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<div class="title">gp3.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Copyright (c) 2010, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160; </div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_SURFACE_IMPL_GP3_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_SURFACE_IMPL_GP3_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/surface/gp3.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/impl/kdtree_flann.hpp&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_projection_triangulation.html#a1817076ff2985e5b5203b506bf25a979">   46</a></span>&#160;<a class="code" href="classpcl_1_1_greedy_projection_triangulation.html#a1817076ff2985e5b5203b506bf25a979">pcl::GreedyProjectionTriangulation&lt;PointInT&gt;::performReconstruction</a> (<a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;output)</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  output.polygons.clear ();</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  output.polygons.reserve (2 * indices_-&gt;size ()); </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; <span class="keywordflow">if</span> (!reconstructPolygons (output.polygons))</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  {</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::performReconstruction] Reconstruction failed. Check parameters: search radius (%f) or mu (%f) before continuing.\n&quot;</span>, getClassName ().c_str (), search_radius_, mu_);</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    output.cloud.width = output.cloud.height = 0;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    output.cloud.data.clear ();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  }</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00061"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_projection_triangulation.html#ac51ee840d66c0d94faa13b4fac6a9108">   61</a></span>&#160;<a class="code" href="classpcl_1_1_greedy_projection_triangulation.html#a1817076ff2985e5b5203b506bf25a979">pcl::GreedyProjectionTriangulation&lt;PointInT&gt;::performReconstruction</a> (std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;{</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  polygons.clear ();</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  polygons.reserve (2 * indices_-&gt;size ()); </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="keywordflow">if</span> (!reconstructPolygons (polygons))</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  {</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::%s::performReconstruction] Reconstruction failed. Check parameters: search radius (%f) or mu (%f) before continuing.\n&quot;</span>, getClassName ().c_str (), search_radius_, mu_);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_projection_triangulation.html#a79446bbf7aa1f11d452fa66e96f512de">   74</a></span>&#160;<a class="code" href="classpcl_1_1_greedy_projection_triangulation.html#a79446bbf7aa1f11d452fa66e96f512de">pcl::GreedyProjectionTriangulation&lt;PointInT&gt;::reconstructPolygons</a> (std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;{</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  <span class="keywordflow">if</span> (search_radius_ &lt;= 0 || mu_ &lt;= 0)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;  {</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    polygons.clear ();</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> sqr_mu = mu_*mu_;</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">double</span> sqr_max_edge = search_radius_*search_radius_;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keywordflow">if</span> (nnn_ &gt; <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ()))</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    nnn_ = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices_-&gt;size ());</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  <span class="comment">// Variables to hold the results of nearest neighbor searches</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  std::vector&lt;int&gt; nnIdx (nnn_);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  std::vector&lt;float&gt; sqrDists (nnn_);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="comment">// current number of connected components</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="keywordtype">int</span> part_index = 0;</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  <span class="comment">// 2D coordinates of points</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keyword">const</span> Eigen::Vector2f uvn_nn_qp_zero = Eigen::Vector2f::Zero();</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  Eigen::Vector2f uvn_current;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  Eigen::Vector2f uvn_prev;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  Eigen::Vector2f uvn_next;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  <span class="comment">// initializing fields</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  already_connected_ = <span class="keyword">false</span>; <span class="comment">// see declaration for comments :P</span></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">// initializing states and fringe neighbors</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  part_.clear ();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  state_.clear ();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  source_.clear ();</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  ffn_.clear ();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  sfn_.clear ();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  part_.resize(indices_-&gt;size (), -1); <span class="comment">// indices of point&#39;s part</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  state_.resize(indices_-&gt;size (), FREE);</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  source_.resize(indices_-&gt;size (), NONE);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  ffn_.resize(indices_-&gt;size (), NONE);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  sfn_.resize(indices_-&gt;size (), NONE);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  fringe_queue_.clear ();</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  <span class="keywordtype">int</span> fqIdx = 0; <span class="comment">// current fringe&#39;s index in the queue to be processed</span></div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  <span class="comment">// Avoiding NaN coordinates if needed</span></div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordflow">if</span> (!input_-&gt;is_dense)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="comment">// Skip invalid points from the indices list</span></div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator it = indices_-&gt;begin (); it != indices_-&gt;end (); ++it)</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;      <span class="keywordflow">if</span> (!pcl_isfinite (input_-&gt;points[*it].x) ||</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;          !pcl_isfinite (input_-&gt;points[*it].y) ||</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          !pcl_isfinite (input_-&gt;points[*it].z))</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        state_[*it] = NONE;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  }</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;  <span class="comment">// Saving coordinates and point to index mapping</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  coords_.clear ();</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  coords_.reserve (indices_-&gt;size ());</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  std::vector&lt;int&gt; point2index (input_-&gt;points.size (), -1);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> cp = 0; cp &lt; static_cast&lt;int&gt; (indices_-&gt;size ()); ++cp)</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  {</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    coords_.push_back(input_-&gt;points[(*indices_)[cp]].getVector3fMap());</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    point2index[(*indices_)[cp]] = cp;</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  }</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160; </div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <span class="comment">// Initializing</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <span class="keywordtype">int</span> is_free=0, nr_parts=0, increase_nnn4fn=0, increase_nnn4s=0, increase_dist=0, nr_touched = 0;</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <span class="keywordtype">bool</span> is_fringe;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  angles_.resize(nnn_);</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  std::vector&lt;Eigen::Vector2f, Eigen::aligned_allocator&lt;Eigen::Vector2f&gt; &gt; uvn_nn (nnn_);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  Eigen::Vector2f uvn_s;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="comment">// iterating through fringe points and finishing them until everything is done</span></div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  <span class="keywordflow">while</span> (is_free != NONE)</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  {</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    R_ = is_free;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    <span class="keywordflow">if</span> (state_[R_] == FREE)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;    {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;      state_[R_] = NONE;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      part_[R_] = part_index++;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160; </div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      <span class="comment">// creating starting triangle</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="comment">//searchForNeighbors ((*indices_)[R_], nnIdx, sqrDists);</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="comment">//tree_-&gt;nearestKSearch (input_-&gt;points[(*indices_)[R_]], nnn_, nnIdx, sqrDists);</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      tree_-&gt;nearestKSearch (indices_-&gt;at (R_), nnn_, nnIdx, sqrDists);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;      <span class="keywordtype">double</span> sqr_dist_threshold = (std::min)(sqr_max_edge, sqr_mu * sqrDists[1]);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160; </div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="comment">// Search tree returns indices into the original cloud, but we are working with indices. TODO: make that optional!</span></div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; nnn_; i++)</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="comment">//if (point2index[nnIdx[i]] == -1)</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="comment">//  std::cerr &lt;&lt; R_ &lt;&lt; &quot; [&quot; &lt;&lt; indices_-&gt;at (R_) &lt;&lt; &quot;] &quot; &lt;&lt; i &lt;&lt; &quot;: &quot; &lt;&lt; nnIdx[i] &lt;&lt; &quot; / &quot; &lt;&lt; point2index[nnIdx[i]] &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        nnIdx[i] = point2index[nnIdx[i]];</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;      }</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      <span class="comment">// Get the normal estimate at the current point </span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;      <span class="keyword">const</span> Eigen::Vector3f nc = input_-&gt;points[(*indices_)[R_]].getNormalVector3fMap ();</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;      <span class="comment">// Get a coordinate system that lies on a plane defined by its normal</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;      v_ = nc.unitOrthogonal ();</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      u_ = nc.cross (v_);</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      <span class="comment">// Projecting point onto the surface </span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;      <span class="keywordtype">float</span> dist = nc.dot (coords_[R_]);</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      proj_qp_ = coords_[R_] - dist * nc;</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;      <span class="comment">// Converting coords, calculating angles and saving the projected near boundary edges</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;      <span class="keywordtype">int</span> nr_edge = 0;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;      std::vector&lt;doubleEdge&gt; doubleEdges;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; nnn_; i++) <span class="comment">// nearest neighbor with index 0 is the query point R_ itself</span></div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      {</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="comment">// Transforming coordinates</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        tmp_ = coords_[nnIdx[i]] - proj_qp_;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        uvn_nn[i][0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        uvn_nn[i][1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="comment">// Computing the angle between each neighboring point and the query point itself</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        angles_[i].angle = atan2(uvn_nn[i][1], uvn_nn[i][0]);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="comment">// initializing angle descriptors</span></div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        angles_[i].index = nnIdx[i];</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordflow">if</span> (</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            (state_[nnIdx[i]] == COMPLETED) || (state_[nnIdx[i]] == BOUNDARY)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            || (state_[nnIdx[i]] == NONE) || (nnIdx[i] == -1) </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            || (sqrDists[i] &gt; sqr_dist_threshold)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;           )</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;          angles_[i].visible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;          angles_[i].visible = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="comment">// Saving the edges between nearby boundary points</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordflow">if</span> ((state_[nnIdx[i]] == FRINGE) || (state_[nnIdx[i]] == BOUNDARY))</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;          <a class="code" href="structpcl_1_1_greedy_projection_triangulation_1_1double_edge.html">doubleEdge</a> e;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          e.index = i;</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          nr_edge++;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          tmp_ = coords_[ffn_[nnIdx[i]]] - proj_qp_;</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          e.first[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          e.first[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;          tmp_ = coords_[sfn_[nnIdx[i]]] - proj_qp_;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;          e.second[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;          e.second[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;          doubleEdges.push_back(e);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      angles_[0].visible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      <span class="comment">// Verify the visibility of each potential new vertex </span></div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; nnn_; i++) <span class="comment">// nearest neighbor with index 0 is the query point R_ itself</span></div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordflow">if</span> ((angles_[i].visible) &amp;&amp; (ffn_[R_] != nnIdx[i]) &amp;&amp; (sfn_[R_] != nnIdx[i]))</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        {</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;          <span class="keywordtype">bool</span> visibility = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; nr_edge; j++)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;          {</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;            <span class="keywordflow">if</span> (ffn_[nnIdx[doubleEdges[j].index]] != nnIdx[i])</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;              visibility = isVisible(uvn_nn[i], uvn_nn[doubleEdges[j].index], doubleEdges[j].first, Eigen::Vector2f::Zero());</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;            <span class="keywordflow">if</span> (!visibility)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;            <span class="keywordflow">if</span> (sfn_[nnIdx[doubleEdges[j].index]] != nnIdx[i])</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;              visibility = isVisible(uvn_nn[i], uvn_nn[doubleEdges[j].index], doubleEdges[j].second, Eigen::Vector2f::Zero());</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;            <span class="keywordflow">if</span> (!visibility)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          }</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;          angles_[i].visible = visibility;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      <span class="comment">// Selecting first two visible free neighbors</span></div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      <span class="keywordtype">bool</span> not_found = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      <span class="keywordtype">int</span> left = 1;</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      <span class="keywordflow">do</span></div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      {</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="keywordflow">while</span> ((left &lt; nnn_) &amp;&amp; ((!angles_[left].visible) || (state_[nnIdx[left]] &gt; FREE))) left++;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="keywordflow">if</span> (left &gt;= nnn_)</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        {</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          <span class="keywordtype">int</span> right = left+1;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          <span class="keywordflow">do</span></div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;          {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            <span class="keywordflow">while</span> ((right &lt; nnn_) &amp;&amp; ((!angles_[right].visible) || (state_[nnIdx[right]] &gt; FREE))) right++;</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;            <span class="keywordflow">if</span> (right &gt;= nnn_)</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((coords_[nnIdx[left]] - coords_[nnIdx[right]]).squaredNorm () &gt; sqr_max_edge)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;              right++;</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;            {</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;              addFringePoint (nnIdx[right], R_);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;              addFringePoint (nnIdx[left], nnIdx[right]);</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;              addFringePoint (R_, nnIdx[left]);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;              state_[R_] = state_[nnIdx[left]] = state_[nnIdx[right]] = FRINGE;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;              ffn_[R_] = nnIdx[left];</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;              sfn_[R_] = nnIdx[right];</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;              ffn_[nnIdx[left]] = nnIdx[right];</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;              sfn_[nnIdx[left]] = R_;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;              ffn_[nnIdx[right]] = R_;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;              sfn_[nnIdx[right]] = nnIdx[left];</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;              addTriangle (R_, nnIdx[left], nnIdx[right], polygons);</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;              nr_parts++;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;              not_found = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;            }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;          }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;          <span class="keywordflow">while</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;          left++;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;        }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="keywordflow">while</span> (not_found);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    }</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    is_free = NONE;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> temp = 0; temp &lt; indices_-&gt;size (); temp++)</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    {</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      <span class="keywordflow">if</span> (state_[temp] == FREE)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      {</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;        is_free = temp;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    }</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    is_fringe = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;    <span class="keywordflow">while</span> (is_fringe)</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;    {</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      is_fringe = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160; </div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      <span class="keywordtype">int</span> fqSize = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (fringe_queue_.size ());</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keywordflow">while</span> ((fqIdx &lt; fqSize) &amp;&amp; (state_[fringe_queue_[fqIdx]] != FRINGE))</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;        fqIdx++;</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;      <span class="comment">// an unfinished fringe point is found</span></div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keywordflow">if</span> (fqIdx &gt;= fqSize)</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      {</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;      }</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;      R_ = fringe_queue_[fqIdx];</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;      is_fringe = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keywordflow">if</span> (ffn_[R_] == sfn_[R_])</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        state_[R_] = COMPLETED;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      <span class="comment">//searchForNeighbors ((*indices_)[R_], nnIdx, sqrDists);</span></div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <span class="comment">//tree_-&gt;nearestKSearch (input_-&gt;points[(*indices_)[R_]], nnn_, nnIdx, sqrDists);</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;      tree_-&gt;nearestKSearch (indices_-&gt;at (R_), nnn_, nnIdx, sqrDists);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      <span class="comment">// Search tree returns indices into the original cloud, but we are working with indices TODO: make that optional!</span></div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; nnn_; i++)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        <span class="comment">//if (point2index[nnIdx[i]] == -1)</span></div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        <span class="comment">//  std::cerr &lt;&lt; R_ &lt;&lt; &quot; [&quot; &lt;&lt; indices_-&gt;at (R_) &lt;&lt; &quot;] &quot; &lt;&lt; i &lt;&lt; &quot;: &quot; &lt;&lt; nnIdx[i] &lt;&lt; &quot; / &quot; &lt;&lt; point2index[nnIdx[i]] &lt;&lt; std::endl;</span></div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;        nnIdx[i] = point2index[nnIdx[i]];</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      }</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      <span class="comment">// Locating FFN and SFN to adapt distance threshold</span></div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;      <span class="keywordtype">double</span> sqr_source_dist = (coords_[R_] - coords_[source_[R_]]).squaredNorm ();</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      <span class="keywordtype">double</span> sqr_ffn_dist = (coords_[R_] - coords_[ffn_[R_]]).squaredNorm ();</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keywordtype">double</span> sqr_sfn_dist = (coords_[R_] - coords_[sfn_[R_]]).squaredNorm ();</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      <span class="keywordtype">double</span> max_sqr_fn_dist = (std::max)(sqr_ffn_dist, sqr_sfn_dist);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;      <span class="keywordtype">double</span> sqr_dist_threshold = (std::min)(sqr_max_edge, sqr_mu * sqrDists[1]); <span class="comment">//sqr_mu * sqr_avg_conn_dist);</span></div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      <span class="keywordflow">if</span> (max_sqr_fn_dist &gt; sqrDists[nnn_-1])</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;      {</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;        <span class="keywordflow">if</span> (0 == increase_nnn4fn)</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;          PCL_WARN(<span class="stringliteral">&quot;Not enough neighbors are considered: ffn or sfn out of range! Consider increasing nnn_... Setting R=%d to be BOUNDARY!\n&quot;</span>, R_);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;        increase_nnn4fn++;</div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;        state_[R_] = BOUNDARY;</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;      }</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;      <span class="keywordtype">double</span> max_sqr_fns_dist = (std::max)(sqr_source_dist, max_sqr_fn_dist);</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;      <span class="keywordflow">if</span> (max_sqr_fns_dist &gt; sqrDists[nnn_-1])</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;      {</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        <span class="keywordflow">if</span> (0 == increase_nnn4s)</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;          PCL_WARN(<span class="stringliteral">&quot;Not enough neighbors are considered: source of R=%d is out of range! Consider increasing nnn_...\n&quot;</span>, R_);</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;        increase_nnn4s++;</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      }</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160; </div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      <span class="comment">// Get the normal estimate at the current point </span></div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keyword">const</span> Eigen::Vector3f nc = input_-&gt;points[(*indices_)[R_]].getNormalVector3fMap ();</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160; </div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;      <span class="comment">// Get a coordinate system that lies on a plane defined by its normal</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      v_ = nc.unitOrthogonal ();</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;      u_ = nc.cross (v_);</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <span class="comment">// Projecting point onto the surface</span></div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;      <span class="keywordtype">float</span> dist = nc.dot (coords_[R_]);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;      proj_qp_ = coords_[R_] - dist * nc;</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;      <span class="comment">// Converting coords, calculating angles and saving the projected near boundary edges</span></div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;      <span class="keywordtype">int</span> nr_edge = 0;</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      std::vector&lt;doubleEdge&gt; doubleEdges;</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; nnn_; i++) <span class="comment">// nearest neighbor with index 0 is the query point R_ itself</span></div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;      {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;        tmp_ = coords_[nnIdx[i]] - proj_qp_;</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;        uvn_nn[i][0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;        uvn_nn[i][1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  </div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;        <span class="comment">// Computing the angle between each neighboring point and the query point itself </span></div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        angles_[i].angle = atan2(uvn_nn[i][1], uvn_nn[i][0]);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <span class="comment">// initializing angle descriptors</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        angles_[i].index = nnIdx[i];</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;        angles_[i].nnIndex = i;</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        <span class="keywordflow">if</span> (</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;            (state_[nnIdx[i]] == COMPLETED) || (state_[nnIdx[i]] == BOUNDARY)</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;            || (state_[nnIdx[i]] == NONE) || (nnIdx[i] == -1) </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;            || (sqrDists[i] &gt; sqr_dist_threshold)</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;           )</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;          angles_[i].visible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;          angles_[i].visible = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keywordflow">if</span> ((ffn_[R_] == nnIdx[i]) || (sfn_[R_] == nnIdx[i]))</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;          angles_[i].visible = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;        <span class="keywordtype">bool</span> same_side = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        <span class="keyword">const</span> Eigen::Vector3f neighbor_normal = input_-&gt;points[(*indices_)[nnIdx[i]]].getNormalVector3fMap (); </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        <span class="keywordtype">double</span> cosine = nc.dot (neighbor_normal);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        <span class="keywordflow">if</span> (cosine &gt; 1) cosine = 1;</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        <span class="keywordflow">if</span> (cosine &lt; -1) cosine = -1;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <span class="keywordtype">double</span> angle = acos (cosine);</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        <span class="keywordflow">if</span> ((!consistent_) &amp;&amp; (angle &gt; M_PI/2))</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;          angle = M_PI - angle;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        <span class="keywordflow">if</span> (angle &gt; eps_angle_)</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        {</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;          angles_[i].visible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;          same_side = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;        }</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <span class="comment">// Saving the edges between nearby boundary points </span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        <span class="keywordflow">if</span> ((i!=0) &amp;&amp; (same_side) &amp;&amp; ((state_[nnIdx[i]] == FRINGE) || (state_[nnIdx[i]] == BOUNDARY)))</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        {</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;          <a class="code" href="structpcl_1_1_greedy_projection_triangulation_1_1double_edge.html">doubleEdge</a> e;</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;          e.index = i;</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;          nr_edge++;</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          tmp_ = coords_[ffn_[nnIdx[i]]] - proj_qp_;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;          e.first[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;          e.first[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;          tmp_ = coords_[sfn_[nnIdx[i]]] - proj_qp_;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;          e.second[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;          e.second[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;          doubleEdges.push_back(e);</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;          <span class="comment">// Pruning by visibility criterion </span></div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;          <span class="keywordflow">if</span> ((state_[nnIdx[i]] == FRINGE) &amp;&amp; (ffn_[R_] != nnIdx[i]) &amp;&amp; (sfn_[R_] != nnIdx[i]))</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;          {</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;            <span class="keywordtype">double</span> angle1 = atan2(e.first[1] - uvn_nn[i][1], e.first[0] - uvn_nn[i][0]);</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;            <span class="keywordtype">double</span> angle2 = atan2(e.second[1] - uvn_nn[i][1], e.second[0] - uvn_nn[i][0]);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;            <span class="keywordtype">double</span> angleMin, angleMax;</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;            <span class="keywordflow">if</span> (angle1 &lt; angle2)</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;            {</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;              angleMin = angle1;</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;              angleMax = angle2;</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;            }</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;            {</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;              angleMin = angle2;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;              angleMax = angle1;</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;            }</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;            <span class="keywordtype">double</span> angleR = angles_[i].angle + M_PI;</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;            <span class="keywordflow">if</span> (angleR &gt;= M_PI)</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;              angleR -= 2*M_PI;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;            <span class="keywordflow">if</span> ((source_[nnIdx[i]] == ffn_[nnIdx[i]]) || (source_[nnIdx[i]] == sfn_[nnIdx[i]]))</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;            {</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;              <span class="keywordflow">if</span> ((angleMax - angleMin) &lt; M_PI)</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;              {</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;                <span class="keywordflow">if</span> ((angleMin &lt; angleR) &amp;&amp; (angleR &lt; angleMax))</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;                  angles_[i].visible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;              }</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;              {</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;                <span class="keywordflow">if</span> ((angleR &lt; angleMin) || (angleMax &lt; angleR))</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;                  angles_[i].visible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;              }</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;            }</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;            {</div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;              tmp_ = coords_[source_[nnIdx[i]]] - proj_qp_;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;              uvn_s[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;              uvn_s[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;              <span class="keywordtype">double</span> angleS = atan2(uvn_s[1] - uvn_nn[i][1], uvn_s[0] - uvn_nn[i][0]);</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;              <span class="keywordflow">if</span> ((angleMin &lt; angleS) &amp;&amp; (angleS &lt; angleMax))</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;              {</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;                <span class="keywordflow">if</span> ((angleMin &lt; angleR) &amp;&amp; (angleR &lt; angleMax))</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;                  angles_[i].visible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;              }</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;              {</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;                <span class="keywordflow">if</span> ((angleR &lt; angleMin) || (angleMax &lt; angleR))</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;                  angles_[i].visible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;              }</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;            }</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;          }</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        }</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      }</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      angles_[0].visible = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160; </div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      <span class="comment">// Verify the visibility of each potential new vertex</span></div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; nnn_; i++) <span class="comment">// nearest neighbor with index 0 is the query point R_ itself</span></div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="keywordflow">if</span> ((angles_[i].visible) &amp;&amp; (ffn_[R_] != nnIdx[i]) &amp;&amp; (sfn_[R_] != nnIdx[i]))</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        {</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;          <span class="keywordtype">bool</span> visibility = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; nr_edge; j++)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          {</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;            <span class="keywordflow">if</span> (doubleEdges[j].index != i)</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;            {</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;              <span class="keywordtype">int</span> f = ffn_[nnIdx[doubleEdges[j].index]];</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;              <span class="keywordflow">if</span> ((f != nnIdx[i]) &amp;&amp; (f != R_))</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;                visibility = isVisible(uvn_nn[i], uvn_nn[doubleEdges[j].index], doubleEdges[j].first, Eigen::Vector2f::Zero());</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;              <span class="keywordflow">if</span> (visibility == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160; </div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;              <span class="keywordtype">int</span> s = sfn_[nnIdx[doubleEdges[j].index]];</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;              <span class="keywordflow">if</span> ((s != nnIdx[i]) &amp;&amp; (s != R_))</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;                visibility = isVisible(uvn_nn[i], uvn_nn[doubleEdges[j].index], doubleEdges[j].second, Eigen::Vector2f::Zero());</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;              <span class="keywordflow">if</span> (visibility == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;            }</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;          }</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;          angles_[i].visible = visibility;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;        }</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;      <span class="comment">// Sorting angles</span></div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      std::sort (angles_.begin (), angles_.end (), <a class="code" href="classpcl_1_1_greedy_projection_triangulation.html">GreedyProjectionTriangulation&lt;PointInT&gt;::nnAngleSortAsc</a>);</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;      <span class="comment">// Triangulating</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;      <span class="keywordflow">if</span> (angles_[2].visible == <span class="keyword">false</span>)</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;      {</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        <span class="keywordflow">if</span> ( !( (angles_[0].index == ffn_[R_] &amp;&amp; angles_[1].index == sfn_[R_]) || (angles_[0].index == sfn_[R_] &amp;&amp; angles_[1].index == ffn_[R_]) ) )</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        {</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;          state_[R_] = BOUNDARY;</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        }</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        {</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;          <span class="keywordflow">if</span> ((source_[R_] == angles_[0].index) || (source_[R_] == angles_[1].index))</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;            state_[R_] = BOUNDARY;</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;          {</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;            <span class="keywordflow">if</span> (sqr_max_edge &lt; (coords_[ffn_[R_]] - coords_[sfn_[R_]]).squaredNorm ())</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            {</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;              state_[R_] = BOUNDARY;</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;            }</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;            {</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;              tmp_ = coords_[source_[R_]] - proj_qp_;</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;              uvn_s[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;              uvn_s[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;              <span class="keywordtype">double</span> angleS = atan2(uvn_s[1], uvn_s[0]);</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;              <span class="keywordtype">double</span> dif = angles_[1].angle - angles_[0].angle;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;              <span class="keywordflow">if</span> ((angles_[0].angle &lt; angleS) &amp;&amp; (angleS &lt; angles_[1].angle))</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;              {</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;                <span class="keywordflow">if</span> (dif &lt; 2*M_PI - maximum_angle_)</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;                  state_[R_] = BOUNDARY;</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;                  closeTriangle (polygons);</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;              }</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;              {</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;                <span class="keywordflow">if</span> (dif &gt;= maximum_angle_)</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;                  state_[R_] = BOUNDARY;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;                  closeTriangle (polygons);</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;              }</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;            }</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;          }</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        }</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;      }</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160; </div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;      <span class="comment">// Finding the FFN and SFN</span></div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;      <span class="keywordtype">int</span> start = -1, end = -1;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;nnn_; i++)</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;      {</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        <span class="keywordflow">if</span> (ffn_[R_] == angles_[i].index)</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;        {</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;          start = i;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;          <span class="keywordflow">if</span> (sfn_[R_] == angles_[i+1].index)</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;            end = i+1;</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;            <span class="keywordflow">if</span> (i==0)</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;            {</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;              <span class="keywordflow">for</span> (i = i+2; i &lt; nnn_; i++)</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;                <span class="keywordflow">if</span> (sfn_[R_] == angles_[i].index)</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;                  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;              end = i;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;            }</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;            {</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;              <span class="keywordflow">for</span> (i = i+2; i &lt; nnn_; i++)</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;                <span class="keywordflow">if</span> (sfn_[R_] == angles_[i].index)</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;                  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;              end = i;</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;            }</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;        }</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        <span class="keywordflow">if</span> (sfn_[R_] == angles_[i].index)</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;        {</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;          start = i;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;          <span class="keywordflow">if</span> (ffn_[R_] == angles_[i+1].index)</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;            end = i+1;</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;            <span class="keywordflow">if</span> (i==0)</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;            {</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;              <span class="keywordflow">for</span> (i = i+2; i &lt; nnn_; i++)</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;                <span class="keywordflow">if</span> (ffn_[R_] == angles_[i].index)</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;                  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;              end = i;</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;            }</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;            {</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;              <span class="keywordflow">for</span> (i = i+2; i &lt; nnn_; i++)</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;                <span class="keywordflow">if</span> (ffn_[R_] == angles_[i].index)</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;                  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;              end = i;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;            }</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;        }</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;      }</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;      <span class="comment">// start and end are always set, as we checked if ffn or sfn are out of range before, but let&#39;s check anyways if &lt; 0</span></div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;      <span class="keywordflow">if</span> ((start &lt; 0) || (end &lt; 0) || (end == nnn_) || (!angles_[start].visible) || (!angles_[end].visible))</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;      {</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;        state_[R_] = BOUNDARY;</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;      }</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      <span class="comment">// Finding last visible nn </span></div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      <span class="keywordtype">int</span> last_visible = end;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      <span class="keywordflow">while</span> ((last_visible+1&lt;nnn_) &amp;&amp; (angles_[last_visible+1].visible)) last_visible++;</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;      <span class="comment">// Finding visibility region of R</span></div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      <span class="keywordtype">bool</span> need_invert = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;      <span class="keywordtype">int</span> sourceIdx = nnn_;</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;      <span class="keywordflow">if</span> ((source_[R_] == ffn_[R_]) || (source_[R_] == sfn_[R_]))</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;      {</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;        <span class="keywordflow">if</span> ((angles_[end].angle - angles_[start].angle) &lt; M_PI)</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;          need_invert = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;      }</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;      {</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;        <span class="keywordflow">for</span> (sourceIdx=0; sourceIdx&lt;nnn_; sourceIdx++)</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;          <span class="keywordflow">if</span> (angles_[sourceIdx].index == source_[R_])</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;        <span class="keywordflow">if</span> (sourceIdx == nnn_)</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;        {</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;          <span class="keywordtype">int</span> vis_free = NONE, nnCB = NONE; <span class="comment">// any free visible and nearest completed or boundary neighbor of R</span></div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; nnn_; i++) <span class="comment">// nearest neighbor with index 0 is the query point R_ itself</span></div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;          {</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;            <span class="comment">// NOTE: nnCB is an index in nnIdx</span></div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;            <span class="keywordflow">if</span> ((state_[nnIdx[i]] == COMPLETED) || (state_[nnIdx[i]] == BOUNDARY))</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;            {</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;              <span class="keywordflow">if</span> (nnCB == NONE)</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;              {</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;                nnCB = i;</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;                <span class="keywordflow">if</span> (vis_free != NONE)</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;                  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;              }</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;            }</div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;            <span class="comment">// NOTE: vis_free is an index in angles</span></div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;            <span class="keywordflow">if</span> (state_[angles_[i].index] &lt;= FREE)</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;            {</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;              <span class="keywordflow">if</span> (i &lt;= last_visible)</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;              {</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;                vis_free = i;</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;                <span class="keywordflow">if</span> (nnCB != NONE)</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;                  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00629"></a><span class="lineno">  629</span>&#160;              }</div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;            }</div>
<div class="line"><a name="l00631"></a><span class="lineno">  631</span>&#160;          }</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;          <span class="comment">// NOTE: nCB is an index in angles</span></div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;          <span class="keywordtype">int</span> nCB = 0;</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;          <span class="keywordflow">if</span> (nnCB != NONE)</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;            <span class="keywordflow">while</span> (angles_[nCB].index != nnIdx[nnCB]) nCB++;</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;            nCB = NONE;</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160; </div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;          <span class="keywordflow">if</span> (vis_free != NONE)</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;          {</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;            <span class="keywordflow">if</span> ((vis_free &lt; start) || (vis_free &gt; end))</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;              need_invert = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;          }</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;          {</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;            <span class="keywordflow">if</span> (nCB != NONE)</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;            {</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;              <span class="keywordflow">if</span> ((nCB == start) || (nCB == end))</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;              {</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;                <span class="keywordtype">bool</span> inside_CB = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;                <span class="keywordtype">bool</span> outside_CB = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;                <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i=0; i&lt;nnn_; i++)</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;                {</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;                  <span class="keywordflow">if</span> (</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;                      ((state_[angles_[i].index] == COMPLETED) || (state_[angles_[i].index] == BOUNDARY))</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;                      &amp;&amp; (i != start) &amp;&amp; (i != end)</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;                     )</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;                    {</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;                      <span class="keywordflow">if</span> ((angles_[start].angle &lt;= angles_[i].angle) &amp;&amp; (angles_[i].angle &lt;= angles_[end].angle))</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;                      {</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;                        inside_CB = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;                        <span class="keywordflow">if</span> (outside_CB)</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;                          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;                      }</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;                      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;                      {</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;                        outside_CB = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;                        <span class="keywordflow">if</span> (inside_CB)</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;                          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;                      }</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;                    }</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;                }</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;                <span class="keywordflow">if</span> (inside_CB &amp;&amp; !outside_CB)</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;                  need_invert = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!(!inside_CB &amp;&amp; outside_CB))</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;                {</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;                  <span class="keywordflow">if</span> ((angles_[end].angle - angles_[start].angle) &lt; M_PI)</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;                    need_invert = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;                }</div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;              }</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;              {</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;                <span class="keywordflow">if</span> ((angles_[nCB].angle &gt; angles_[start].angle) &amp;&amp; (angles_[nCB].angle &lt; angles_[end].angle))</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;                  need_invert = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;              }</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;            }</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;            {</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;              <span class="keywordflow">if</span> (start == end-1)</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;                need_invert = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;            }</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;          }</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;        }</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((angles_[start].angle &lt; angles_[sourceIdx].angle) &amp;&amp; (angles_[sourceIdx].angle &lt; angles_[end].angle))</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;          need_invert = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;      }</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160; </div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;      <span class="comment">// switching start and end if necessary</span></div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;      <span class="keywordflow">if</span> (need_invert)</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;      {</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;        <span class="keywordtype">int</span> tmp = start;</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;        start = end;</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;        end = tmp;</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;      }</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160; </div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;      <span class="comment">// Arranging visible nnAngles in the order they need to be connected and</span></div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;      <span class="comment">// compute the maximal angle difference between two consecutive visible angles</span></div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;      <span class="keywordtype">bool</span> is_boundary = <span class="keyword">false</span>, is_skinny = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;      std::vector&lt;bool&gt; gaps (nnn_, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;      std::vector&lt;bool&gt; skinny (nnn_, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;      std::vector&lt;double&gt; dif (nnn_);</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;      std::vector&lt;int&gt; angleIdx; angleIdx.reserve (nnn_);</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;      <span class="keywordflow">if</span> (start &gt; end)</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;      {</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j=start; j&lt;last_visible; j++)</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;        {</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;          dif[j] = (angles_[j+1].angle - angles_[j].angle);</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;          <span class="keywordflow">if</span> (dif[j] &lt; minimum_angle_)</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;          {</div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;            skinny[j] = is_skinny = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;          }</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (maximum_angle_ &lt;= dif[j])</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;          {</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;            gaps[j] = is_boundary = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;          }</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;          <span class="keywordflow">if</span> ((!gaps[j]) &amp;&amp; (sqr_max_edge &lt; (coords_[angles_[j+1].index] - coords_[angles_[j].index]).squaredNorm ()))</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;          {</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;            gaps[j] = is_boundary = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;          }</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;          angleIdx.push_back(j);</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;        }</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160; </div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;        dif[last_visible] = (2*M_PI + angles_[0].angle - angles_[last_visible].angle);</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;        <span class="keywordflow">if</span> (dif[last_visible] &lt; minimum_angle_)</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;        {</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;          skinny[last_visible] = is_skinny = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;        }</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (maximum_angle_ &lt;= dif[last_visible])</div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;        {</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;          gaps[last_visible] = is_boundary = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;        }</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;        <span class="keywordflow">if</span> ((!gaps[last_visible]) &amp;&amp; (sqr_max_edge &lt; (coords_[angles_[0].index] - coords_[angles_[last_visible].index]).squaredNorm ()))</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;        {</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;          gaps[last_visible] = is_boundary = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;        }</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;        angleIdx.push_back(last_visible);</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160; </div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j=0; j&lt;end; j++)</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;        {</div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;          dif[j] = (angles_[j+1].angle - angles_[j].angle);</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;          <span class="keywordflow">if</span> (dif[j] &lt; minimum_angle_)</div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;          {</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;            skinny[j] = is_skinny = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;          }</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (maximum_angle_ &lt;= dif[j])</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;          {</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;            gaps[j] = is_boundary = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;          }</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;          <span class="keywordflow">if</span> ((!gaps[j]) &amp;&amp; (sqr_max_edge &lt; (coords_[angles_[j+1].index] - coords_[angles_[j].index]).squaredNorm ()))</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;          {</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;            gaps[j] = is_boundary = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;          }</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;          angleIdx.push_back(j);</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;        }</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;        angleIdx.push_back(end);</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;      }</div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;      <span class="comment">// start &lt; end</span></div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;      {</div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;        <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j=start; j&lt;end; j++)</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;        {</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;          dif[j] = (angles_[j+1].angle - angles_[j].angle);</div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;          <span class="keywordflow">if</span> (dif[j] &lt; minimum_angle_)</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;          {</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;            skinny[j] = is_skinny = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;          }</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (maximum_angle_ &lt;= dif[j])</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;          {</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;            gaps[j] = is_boundary = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;          }</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;          <span class="keywordflow">if</span> ((!gaps[j]) &amp;&amp; (sqr_max_edge &lt; (coords_[angles_[j+1].index] - coords_[angles_[j].index]).squaredNorm ()))</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;          {</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;            gaps[j] = is_boundary = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;          }</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;          angleIdx.push_back(j);</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;        }</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;        angleIdx.push_back(end);</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;      }</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160; </div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;      <span class="comment">// Set the state of the point</span></div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;      state_[R_] = is_boundary ? BOUNDARY : COMPLETED;</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160; </div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      std::vector&lt;int&gt;::iterator first_gap_after = angleIdx.end ();</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;      std::vector&lt;int&gt;::iterator last_gap_before = angleIdx.begin ();</div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;      <span class="keywordtype">int</span> nr_gaps = 0;</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator it = angleIdx.begin (); it != angleIdx.end () - 1; it++)</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;      {</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;        <span class="keywordflow">if</span> (gaps[*it])</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160;        {</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;          nr_gaps++;</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;          <span class="keywordflow">if</span> (first_gap_after == angleIdx.end())</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;            first_gap_after = it;</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;          last_gap_before = it+1;</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;        }</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;      }</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;      <span class="keywordflow">if</span> (nr_gaps &gt; 1)</div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;      {</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;        angleIdx.erase(first_gap_after+1, last_gap_before);</div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;      }</div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160; </div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;      <span class="comment">// Neglecting points that would form skinny triangles (if possible)</span></div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;      <span class="keywordflow">if</span> (is_skinny)</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;      {</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;        <span class="keywordtype">double</span> angle_so_far = 0, angle_would_be;</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;        <span class="keywordtype">double</span> max_combined_angle = (std::min)(maximum_angle_, M_PI-2*minimum_angle_);</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;        Eigen::Vector2f X;</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;        Eigen::Vector2f S1;</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;        Eigen::Vector2f S2;</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;        std::vector&lt;int&gt; to_erase;</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator it = angleIdx.begin()+1; it != angleIdx.end()-1; it++)</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;        {</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;          <span class="keywordflow">if</span> (gaps[*(it-1)])</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;            angle_so_far = 0;</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;            angle_so_far += dif[*(it-1)];</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;          <span class="keywordflow">if</span> (gaps[*it])</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;            angle_would_be = angle_so_far;</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;            angle_would_be = angle_so_far + dif[*it];</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;          <span class="keywordflow">if</span> (</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160;              (skinny[*it] || skinny[*(it-1)]) &amp;&amp;</div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;              ((state_[angles_[*it].index] &lt;= FREE) || (state_[angles_[*(it-1)].index] &lt;= FREE)) &amp;&amp;</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;              ((!gaps[*it]) || (angles_[*it].nnIndex &gt; angles_[*(it-1)].nnIndex)) &amp;&amp;</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;              ((!gaps[*(it-1)]) || (angles_[*it].nnIndex &gt; angles_[*(it+1)].nnIndex)) &amp;&amp;</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;              (angle_would_be &lt; max_combined_angle)</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;             )</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;          {</div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;            <span class="keywordflow">if</span> (gaps[*(it-1)])</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;            {</div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;              gaps[*it] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;              to_erase.push_back(*it);</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;            }</div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (gaps[*it])</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;            {</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;              gaps[*(it-1)] = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;              to_erase.push_back(*it);</div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;            }</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;            {</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;              std::vector&lt;int&gt;::iterator prev_it;</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160;              <span class="keywordtype">int</span> erased_idx = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (to_erase.size ()) -1;</div>
<div class="line"><a name="l00852"></a><span class="lineno">  852</span>&#160;              <span class="keywordflow">for</span> (prev_it = it-1; (erased_idx != -1) &amp;&amp; (it != angleIdx.begin()); it--)</div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;                <span class="keywordflow">if</span> (*it == to_erase[erased_idx])</div>
<div class="line"><a name="l00854"></a><span class="lineno">  854</span>&#160;                  erased_idx--;</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;                  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;              <span class="keywordtype">bool</span> can_delete = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;              <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator curr_it = prev_it+1; curr_it != it+1; curr_it++)</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;              {</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160;                tmp_ = coords_[angles_[*curr_it].index] - proj_qp_;</div>
<div class="line"><a name="l00861"></a><span class="lineno">  861</span>&#160;                X[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;                X[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00863"></a><span class="lineno">  863</span>&#160;                tmp_ = coords_[angles_[*prev_it].index] - proj_qp_;</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;                S1[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;                S1[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;                tmp_ = coords_[angles_[*(it+1)].index] - proj_qp_;</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;                S2[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;                S2[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;                <span class="comment">// check for inclusions </span></div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;                <span class="keywordflow">if</span> (isVisible(X,S1,S2))</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;                {</div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;                  can_delete = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;                  angle_so_far = 0;</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;                  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160;                }</div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;              }</div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;              <span class="keywordflow">if</span> (can_delete)</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;              {</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;                to_erase.push_back(*it);</div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;              }</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;            }</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;          }</div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;            angle_so_far = 0;</div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;        }</div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;        <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator it = to_erase.begin(); it != to_erase.end(); it++)</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160;        {</div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;          <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator iter = angleIdx.begin(); iter != angleIdx.end(); iter++)</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;            <span class="keywordflow">if</span> (*it == *iter)</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;            {</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;              angleIdx.erase(iter);</div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;            }</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;        }</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160;      }</div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160; </div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;      <span class="comment">// Writing edges and updating edge-front </span></div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;      changed_1st_fn_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160;      changed_2nd_fn_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;      new2boundary_ = NONE;</div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160;      <span class="keywordflow">for</span> (std::vector&lt;int&gt;::iterator it = angleIdx.begin()+1; it != angleIdx.end()-1; it++)</div>
<div class="line"><a name="l00902"></a><span class="lineno">  902</span>&#160;      {</div>
<div class="line"><a name="l00903"></a><span class="lineno">  903</span>&#160;        current_index_ = angles_[*it].index;</div>
<div class="line"><a name="l00904"></a><span class="lineno">  904</span>&#160; </div>
<div class="line"><a name="l00905"></a><span class="lineno">  905</span>&#160;        is_current_free_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00906"></a><span class="lineno">  906</span>&#160;        <span class="keywordflow">if</span> (state_[current_index_] &lt;= FREE)</div>
<div class="line"><a name="l00907"></a><span class="lineno">  907</span>&#160;        {</div>
<div class="line"><a name="l00908"></a><span class="lineno">  908</span>&#160;          state_[current_index_] = FRINGE;</div>
<div class="line"><a name="l00909"></a><span class="lineno">  909</span>&#160;          is_current_free_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00910"></a><span class="lineno">  910</span>&#160;        }</div>
<div class="line"><a name="l00911"></a><span class="lineno">  911</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!already_connected_)</div>
<div class="line"><a name="l00912"></a><span class="lineno">  912</span>&#160;        {</div>
<div class="line"><a name="l00913"></a><span class="lineno">  913</span>&#160;          prev_is_ffn_ = (ffn_[current_index_] == angles_[*(it-1)].index) &amp;&amp; (!gaps[*(it-1)]);</div>
<div class="line"><a name="l00914"></a><span class="lineno">  914</span>&#160;          prev_is_sfn_ = (sfn_[current_index_] == angles_[*(it-1)].index) &amp;&amp; (!gaps[*(it-1)]);</div>
<div class="line"><a name="l00915"></a><span class="lineno">  915</span>&#160;          next_is_ffn_ = (ffn_[current_index_] == angles_[*(it+1)].index) &amp;&amp; (!gaps[*it]);</div>
<div class="line"><a name="l00916"></a><span class="lineno">  916</span>&#160;          next_is_sfn_ = (sfn_[current_index_] == angles_[*(it+1)].index) &amp;&amp; (!gaps[*it]);</div>
<div class="line"><a name="l00917"></a><span class="lineno">  917</span>&#160;          <span class="keywordflow">if</span> (!prev_is_ffn_ &amp;&amp; !next_is_sfn_ &amp;&amp; !prev_is_sfn_ &amp;&amp; !next_is_ffn_)</div>
<div class="line"><a name="l00918"></a><span class="lineno">  918</span>&#160;          {</div>
<div class="line"><a name="l00919"></a><span class="lineno">  919</span>&#160;            nr_touched++;</div>
<div class="line"><a name="l00920"></a><span class="lineno">  920</span>&#160;          }</div>
<div class="line"><a name="l00921"></a><span class="lineno">  921</span>&#160;        }</div>
<div class="line"><a name="l00922"></a><span class="lineno">  922</span>&#160;                                   </div>
<div class="line"><a name="l00923"></a><span class="lineno">  923</span>&#160;        <span class="keywordflow">if</span> (gaps[*it])</div>
<div class="line"><a name="l00924"></a><span class="lineno">  924</span>&#160;          <span class="keywordflow">if</span> (gaps[*(it-1)])</div>
<div class="line"><a name="l00925"></a><span class="lineno">  925</span>&#160;          {</div>
<div class="line"><a name="l00926"></a><span class="lineno">  926</span>&#160;            <span class="keywordflow">if</span> (is_current_free_)</div>
<div class="line"><a name="l00927"></a><span class="lineno">  927</span>&#160;              state_[current_index_] = NONE; </div>
<div class="line"><a name="l00928"></a><span class="lineno">  928</span>&#160;          }</div>
<div class="line"><a name="l00929"></a><span class="lineno">  929</span>&#160; </div>
<div class="line"><a name="l00930"></a><span class="lineno">  930</span>&#160;          <span class="keywordflow">else</span> <span class="comment">// (gaps[*it]) &amp;&amp; ^(gaps[*(it-1)])</span></div>
<div class="line"><a name="l00931"></a><span class="lineno">  931</span>&#160;          {</div>
<div class="line"><a name="l00932"></a><span class="lineno">  932</span>&#160;            addTriangle (current_index_, angles_[*(it-1)].index, R_, polygons);</div>
<div class="line"><a name="l00933"></a><span class="lineno">  933</span>&#160;            addFringePoint (current_index_, R_);</div>
<div class="line"><a name="l00934"></a><span class="lineno">  934</span>&#160;            new2boundary_ = current_index_;</div>
<div class="line"><a name="l00935"></a><span class="lineno">  935</span>&#160;            <span class="keywordflow">if</span> (!already_connected_) </div>
<div class="line"><a name="l00936"></a><span class="lineno">  936</span>&#160;              connectPoint (polygons, angles_[*(it-1)].index, R_,</div>
<div class="line"><a name="l00937"></a><span class="lineno">  937</span>&#160;                            angles_[*(it+1)].index,</div>
<div class="line"><a name="l00938"></a><span class="lineno">  938</span>&#160;                            uvn_nn[angles_[*it].nnIndex], uvn_nn[angles_[*(it-1)].nnIndex], uvn_nn_qp_zero);</div>
<div class="line"><a name="l00939"></a><span class="lineno">  939</span>&#160;            <span class="keywordflow">else</span> already_connected_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00940"></a><span class="lineno">  940</span>&#160;            <span class="keywordflow">if</span> (ffn_[R_] == angles_[*(angleIdx.begin())].index)</div>
<div class="line"><a name="l00941"></a><span class="lineno">  941</span>&#160;            {</div>
<div class="line"><a name="l00942"></a><span class="lineno">  942</span>&#160;              ffn_[R_] = new2boundary_;</div>
<div class="line"><a name="l00943"></a><span class="lineno">  943</span>&#160;            }</div>
<div class="line"><a name="l00944"></a><span class="lineno">  944</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[R_] == angles_[*(angleIdx.begin())].index)</div>
<div class="line"><a name="l00945"></a><span class="lineno">  945</span>&#160;            {</div>
<div class="line"><a name="l00946"></a><span class="lineno">  946</span>&#160;              sfn_[R_] = new2boundary_;</div>
<div class="line"><a name="l00947"></a><span class="lineno">  947</span>&#160;            }</div>
<div class="line"><a name="l00948"></a><span class="lineno">  948</span>&#160;          }</div>
<div class="line"><a name="l00949"></a><span class="lineno">  949</span>&#160; </div>
<div class="line"><a name="l00950"></a><span class="lineno">  950</span>&#160;        <span class="keywordflow">else</span> <span class="comment">// ^(gaps[*it])</span></div>
<div class="line"><a name="l00951"></a><span class="lineno">  951</span>&#160;          <span class="keywordflow">if</span> (gaps[*(it-1)])</div>
<div class="line"><a name="l00952"></a><span class="lineno">  952</span>&#160;          {</div>
<div class="line"><a name="l00953"></a><span class="lineno">  953</span>&#160;            addFringePoint (current_index_, R_);</div>
<div class="line"><a name="l00954"></a><span class="lineno">  954</span>&#160;            new2boundary_ = current_index_;</div>
<div class="line"><a name="l00955"></a><span class="lineno">  955</span>&#160;            <span class="keywordflow">if</span> (!already_connected_) connectPoint (polygons, R_, angles_[*(it+1)].index,</div>
<div class="line"><a name="l00956"></a><span class="lineno">  956</span>&#160;                                                   (it+2) == angleIdx.end() ? -1 : angles_[*(it+2)].index,</div>
<div class="line"><a name="l00957"></a><span class="lineno">  957</span>&#160;                                                   uvn_nn[angles_[*it].nnIndex], uvn_nn_qp_zero, </div>
<div class="line"><a name="l00958"></a><span class="lineno">  958</span>&#160;                                                   uvn_nn[angles_[*(it+1)].nnIndex]);</div>
<div class="line"><a name="l00959"></a><span class="lineno">  959</span>&#160;            <span class="keywordflow">else</span> already_connected_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00960"></a><span class="lineno">  960</span>&#160;            <span class="keywordflow">if</span> (ffn_[R_] == angles_[*(angleIdx.end()-1)].index)</div>
<div class="line"><a name="l00961"></a><span class="lineno">  961</span>&#160;            {</div>
<div class="line"><a name="l00962"></a><span class="lineno">  962</span>&#160;              ffn_[R_] = new2boundary_;</div>
<div class="line"><a name="l00963"></a><span class="lineno">  963</span>&#160;            }</div>
<div class="line"><a name="l00964"></a><span class="lineno">  964</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[R_] == angles_[*(angleIdx.end()-1)].index)</div>
<div class="line"><a name="l00965"></a><span class="lineno">  965</span>&#160;            {</div>
<div class="line"><a name="l00966"></a><span class="lineno">  966</span>&#160;              sfn_[R_] = new2boundary_;</div>
<div class="line"><a name="l00967"></a><span class="lineno">  967</span>&#160;            }</div>
<div class="line"><a name="l00968"></a><span class="lineno">  968</span>&#160;          }</div>
<div class="line"><a name="l00969"></a><span class="lineno">  969</span>&#160; </div>
<div class="line"><a name="l00970"></a><span class="lineno">  970</span>&#160;          <span class="keywordflow">else</span> <span class="comment">// ^(gaps[*it]) &amp;&amp; ^(gaps[*(it-1)]) </span></div>
<div class="line"><a name="l00971"></a><span class="lineno">  971</span>&#160;          {</div>
<div class="line"><a name="l00972"></a><span class="lineno">  972</span>&#160;            addTriangle (current_index_, angles_[*(it-1)].index, R_, polygons);</div>
<div class="line"><a name="l00973"></a><span class="lineno">  973</span>&#160;            addFringePoint (current_index_, R_);</div>
<div class="line"><a name="l00974"></a><span class="lineno">  974</span>&#160;            <span class="keywordflow">if</span> (!already_connected_) connectPoint (polygons, angles_[*(it-1)].index, angles_[*(it+1)].index,</div>
<div class="line"><a name="l00975"></a><span class="lineno">  975</span>&#160;                                                   (it+2) == angleIdx.end() ? -1 : gaps[*(it+1)] ? R_ : angles_[*(it+2)].index,</div>
<div class="line"><a name="l00976"></a><span class="lineno">  976</span>&#160;                                                   uvn_nn[angles_[*it].nnIndex], </div>
<div class="line"><a name="l00977"></a><span class="lineno">  977</span>&#160;                                                   uvn_nn[angles_[*(it-1)].nnIndex], </div>
<div class="line"><a name="l00978"></a><span class="lineno">  978</span>&#160;                                                   uvn_nn[angles_[*(it+1)].nnIndex]);</div>
<div class="line"><a name="l00979"></a><span class="lineno">  979</span>&#160;            <span class="keywordflow">else</span> already_connected_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00980"></a><span class="lineno">  980</span>&#160;          }</div>
<div class="line"><a name="l00981"></a><span class="lineno">  981</span>&#160;      }</div>
<div class="line"><a name="l00982"></a><span class="lineno">  982</span>&#160;      </div>
<div class="line"><a name="l00983"></a><span class="lineno">  983</span>&#160;      <span class="comment">// Finishing up R_</span></div>
<div class="line"><a name="l00984"></a><span class="lineno">  984</span>&#160;      <span class="keywordflow">if</span> (ffn_[R_] == sfn_[R_])</div>
<div class="line"><a name="l00985"></a><span class="lineno">  985</span>&#160;      {</div>
<div class="line"><a name="l00986"></a><span class="lineno">  986</span>&#160;        state_[R_] = COMPLETED;</div>
<div class="line"><a name="l00987"></a><span class="lineno">  987</span>&#160;      }</div>
<div class="line"><a name="l00988"></a><span class="lineno">  988</span>&#160;      <span class="keywordflow">if</span> (!gaps[*(angleIdx.end()-2)])</div>
<div class="line"><a name="l00989"></a><span class="lineno">  989</span>&#160;      {</div>
<div class="line"><a name="l00990"></a><span class="lineno">  990</span>&#160;        addTriangle (angles_[*(angleIdx.end()-2)].index, angles_[*(angleIdx.end()-1)].index, R_, polygons);</div>
<div class="line"><a name="l00991"></a><span class="lineno">  991</span>&#160;        addFringePoint (angles_[*(angleIdx.end()-2)].index, R_);</div>
<div class="line"><a name="l00992"></a><span class="lineno">  992</span>&#160;        <span class="keywordflow">if</span> (R_ == ffn_[angles_[*(angleIdx.end()-1)].index])</div>
<div class="line"><a name="l00993"></a><span class="lineno">  993</span>&#160;        {</div>
<div class="line"><a name="l00994"></a><span class="lineno">  994</span>&#160;          <span class="keywordflow">if</span> (angles_[*(angleIdx.end()-2)].index == sfn_[angles_[*(angleIdx.end()-1)].index])</div>
<div class="line"><a name="l00995"></a><span class="lineno">  995</span>&#160;          {</div>
<div class="line"><a name="l00996"></a><span class="lineno">  996</span>&#160;            state_[angles_[*(angleIdx.end()-1)].index] = COMPLETED;</div>
<div class="line"><a name="l00997"></a><span class="lineno">  997</span>&#160;          }</div>
<div class="line"><a name="l00998"></a><span class="lineno">  998</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00999"></a><span class="lineno">  999</span>&#160;          {</div>
<div class="line"><a name="l01000"></a><span class="lineno"> 1000</span>&#160;            ffn_[angles_[*(angleIdx.end()-1)].index] = angles_[*(angleIdx.end()-2)].index;</div>
<div class="line"><a name="l01001"></a><span class="lineno"> 1001</span>&#160;          }</div>
<div class="line"><a name="l01002"></a><span class="lineno"> 1002</span>&#160;        }</div>
<div class="line"><a name="l01003"></a><span class="lineno"> 1003</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (R_ == sfn_[angles_[*(angleIdx.end()-1)].index])</div>
<div class="line"><a name="l01004"></a><span class="lineno"> 1004</span>&#160;        {</div>
<div class="line"><a name="l01005"></a><span class="lineno"> 1005</span>&#160;          <span class="keywordflow">if</span> (angles_[*(angleIdx.end()-2)].index == ffn_[angles_[*(angleIdx.end()-1)].index])</div>
<div class="line"><a name="l01006"></a><span class="lineno"> 1006</span>&#160;          {</div>
<div class="line"><a name="l01007"></a><span class="lineno"> 1007</span>&#160;            state_[angles_[*(angleIdx.end()-1)].index] = COMPLETED;</div>
<div class="line"><a name="l01008"></a><span class="lineno"> 1008</span>&#160;          }</div>
<div class="line"><a name="l01009"></a><span class="lineno"> 1009</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01010"></a><span class="lineno"> 1010</span>&#160;          {</div>
<div class="line"><a name="l01011"></a><span class="lineno"> 1011</span>&#160;            sfn_[angles_[*(angleIdx.end()-1)].index] = angles_[*(angleIdx.end()-2)].index;</div>
<div class="line"><a name="l01012"></a><span class="lineno"> 1012</span>&#160;          }</div>
<div class="line"><a name="l01013"></a><span class="lineno"> 1013</span>&#160;        }</div>
<div class="line"><a name="l01014"></a><span class="lineno"> 1014</span>&#160;      }</div>
<div class="line"><a name="l01015"></a><span class="lineno"> 1015</span>&#160;      <span class="keywordflow">if</span> (!gaps[*(angleIdx.begin())])</div>
<div class="line"><a name="l01016"></a><span class="lineno"> 1016</span>&#160;      {</div>
<div class="line"><a name="l01017"></a><span class="lineno"> 1017</span>&#160;        <span class="keywordflow">if</span> (R_ == ffn_[angles_[*(angleIdx.begin())].index])</div>
<div class="line"><a name="l01018"></a><span class="lineno"> 1018</span>&#160;        {</div>
<div class="line"><a name="l01019"></a><span class="lineno"> 1019</span>&#160;          <span class="keywordflow">if</span> (angles_[*(angleIdx.begin()+1)].index == sfn_[angles_[*(angleIdx.begin())].index])</div>
<div class="line"><a name="l01020"></a><span class="lineno"> 1020</span>&#160;          {</div>
<div class="line"><a name="l01021"></a><span class="lineno"> 1021</span>&#160;            state_[angles_[*(angleIdx.begin())].index] = COMPLETED;</div>
<div class="line"><a name="l01022"></a><span class="lineno"> 1022</span>&#160;          }</div>
<div class="line"><a name="l01023"></a><span class="lineno"> 1023</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01024"></a><span class="lineno"> 1024</span>&#160;          {</div>
<div class="line"><a name="l01025"></a><span class="lineno"> 1025</span>&#160;            ffn_[angles_[*(angleIdx.begin())].index] = angles_[*(angleIdx.begin()+1)].index;</div>
<div class="line"><a name="l01026"></a><span class="lineno"> 1026</span>&#160;          }</div>
<div class="line"><a name="l01027"></a><span class="lineno"> 1027</span>&#160;        }</div>
<div class="line"><a name="l01028"></a><span class="lineno"> 1028</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (R_ == sfn_[angles_[*(angleIdx.begin())].index])</div>
<div class="line"><a name="l01029"></a><span class="lineno"> 1029</span>&#160;        {</div>
<div class="line"><a name="l01030"></a><span class="lineno"> 1030</span>&#160;          <span class="keywordflow">if</span> (angles_[*(angleIdx.begin()+1)].index == ffn_[angles_[*(angleIdx.begin())].index])</div>
<div class="line"><a name="l01031"></a><span class="lineno"> 1031</span>&#160;          {</div>
<div class="line"><a name="l01032"></a><span class="lineno"> 1032</span>&#160;            state_[angles_[*(angleIdx.begin())].index] = COMPLETED;</div>
<div class="line"><a name="l01033"></a><span class="lineno"> 1033</span>&#160;          }</div>
<div class="line"><a name="l01034"></a><span class="lineno"> 1034</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01035"></a><span class="lineno"> 1035</span>&#160;          {</div>
<div class="line"><a name="l01036"></a><span class="lineno"> 1036</span>&#160;            sfn_[angles_[*(angleIdx.begin())].index] = angles_[*(angleIdx.begin()+1)].index;</div>
<div class="line"><a name="l01037"></a><span class="lineno"> 1037</span>&#160;          }</div>
<div class="line"><a name="l01038"></a><span class="lineno"> 1038</span>&#160;        }</div>
<div class="line"><a name="l01039"></a><span class="lineno"> 1039</span>&#160;      }</div>
<div class="line"><a name="l01040"></a><span class="lineno"> 1040</span>&#160;    }</div>
<div class="line"><a name="l01041"></a><span class="lineno"> 1041</span>&#160;  }</div>
<div class="line"><a name="l01042"></a><span class="lineno"> 1042</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;Number of triangles: %lu\n&quot;</span>, polygons.size());</div>
<div class="line"><a name="l01043"></a><span class="lineno"> 1043</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;Number of unconnected parts: %d\n&quot;</span>, nr_parts);</div>
<div class="line"><a name="l01044"></a><span class="lineno"> 1044</span>&#160;  <span class="keywordflow">if</span> (increase_nnn4fn &gt; 0)</div>
<div class="line"><a name="l01045"></a><span class="lineno"> 1045</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;Number of neighborhood size increase requests for fringe neighbors: %d\n&quot;</span>, increase_nnn4fn);</div>
<div class="line"><a name="l01046"></a><span class="lineno"> 1046</span>&#160;  <span class="keywordflow">if</span> (increase_nnn4s &gt; 0)</div>
<div class="line"><a name="l01047"></a><span class="lineno"> 1047</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;Number of neighborhood size increase requests for source: %d\n&quot;</span>, increase_nnn4s);</div>
<div class="line"><a name="l01048"></a><span class="lineno"> 1048</span>&#160;  <span class="keywordflow">if</span> (increase_dist &gt; 0)</div>
<div class="line"><a name="l01049"></a><span class="lineno"> 1049</span>&#160;    PCL_WARN (<span class="stringliteral">&quot;Number of automatic maximum distance increases: %d\n&quot;</span>, increase_dist);</div>
<div class="line"><a name="l01050"></a><span class="lineno"> 1050</span>&#160; </div>
<div class="line"><a name="l01051"></a><span class="lineno"> 1051</span>&#160;  <span class="comment">// sorting and removing doubles from fringe queue </span></div>
<div class="line"><a name="l01052"></a><span class="lineno"> 1052</span>&#160;  std::sort (fringe_queue_.begin (), fringe_queue_.end ());</div>
<div class="line"><a name="l01053"></a><span class="lineno"> 1053</span>&#160;  fringe_queue_.erase (std::unique (fringe_queue_.begin (), fringe_queue_.end ()), fringe_queue_.end ());</div>
<div class="line"><a name="l01054"></a><span class="lineno"> 1054</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;Number of processed points: %lu / %lu\n&quot;</span>, fringe_queue_.size(), indices_-&gt;size ());</div>
<div class="line"><a name="l01055"></a><span class="lineno"> 1055</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l01056"></a><span class="lineno"> 1056</span>&#160;}</div>
<div class="line"><a name="l01057"></a><span class="lineno"> 1057</span>&#160; </div>
<div class="line"><a name="l01059"></a><span class="lineno"> 1059</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01060"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_projection_triangulation.html#a9c944c84cd512f7446e32477aa901ef2"> 1060</a></span>&#160;<a class="code" href="classpcl_1_1_greedy_projection_triangulation.html#a9c944c84cd512f7446e32477aa901ef2">pcl::GreedyProjectionTriangulation&lt;PointInT&gt;::closeTriangle</a> (std::vector&lt;pcl::Vertices&gt; &amp;polygons)</div>
<div class="line"><a name="l01061"></a><span class="lineno"> 1061</span>&#160;{</div>
<div class="line"><a name="l01062"></a><span class="lineno"> 1062</span>&#160;  state_[R_] = COMPLETED;</div>
<div class="line"><a name="l01063"></a><span class="lineno"> 1063</span>&#160;  addTriangle (angles_[0].index, angles_[1].index, R_, polygons);</div>
<div class="line"><a name="l01064"></a><span class="lineno"> 1064</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> aIdx=0; aIdx&lt;2; aIdx++)</div>
<div class="line"><a name="l01065"></a><span class="lineno"> 1065</span>&#160;  {</div>
<div class="line"><a name="l01066"></a><span class="lineno"> 1066</span>&#160;    <span class="keywordflow">if</span> (ffn_[angles_[aIdx].index] == R_)</div>
<div class="line"><a name="l01067"></a><span class="lineno"> 1067</span>&#160;    {</div>
<div class="line"><a name="l01068"></a><span class="lineno"> 1068</span>&#160;      <span class="keywordflow">if</span> (sfn_[angles_[aIdx].index] == angles_[(aIdx+1)%2].index)</div>
<div class="line"><a name="l01069"></a><span class="lineno"> 1069</span>&#160;      {</div>
<div class="line"><a name="l01070"></a><span class="lineno"> 1070</span>&#160;        state_[angles_[aIdx].index] = COMPLETED;</div>
<div class="line"><a name="l01071"></a><span class="lineno"> 1071</span>&#160;      }</div>
<div class="line"><a name="l01072"></a><span class="lineno"> 1072</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l01073"></a><span class="lineno"> 1073</span>&#160;      {</div>
<div class="line"><a name="l01074"></a><span class="lineno"> 1074</span>&#160;        ffn_[angles_[aIdx].index] = angles_[(aIdx+1)%2].index;</div>
<div class="line"><a name="l01075"></a><span class="lineno"> 1075</span>&#160;      }</div>
<div class="line"><a name="l01076"></a><span class="lineno"> 1076</span>&#160;    }</div>
<div class="line"><a name="l01077"></a><span class="lineno"> 1077</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[angles_[aIdx].index] == R_)</div>
<div class="line"><a name="l01078"></a><span class="lineno"> 1078</span>&#160;    {</div>
<div class="line"><a name="l01079"></a><span class="lineno"> 1079</span>&#160;      <span class="keywordflow">if</span> (ffn_[angles_[aIdx].index] == angles_[(aIdx+1)%2].index)</div>
<div class="line"><a name="l01080"></a><span class="lineno"> 1080</span>&#160;      {</div>
<div class="line"><a name="l01081"></a><span class="lineno"> 1081</span>&#160;        state_[angles_[aIdx].index] = COMPLETED;</div>
<div class="line"><a name="l01082"></a><span class="lineno"> 1082</span>&#160;      }</div>
<div class="line"><a name="l01083"></a><span class="lineno"> 1083</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l01084"></a><span class="lineno"> 1084</span>&#160;      {</div>
<div class="line"><a name="l01085"></a><span class="lineno"> 1085</span>&#160;        sfn_[angles_[aIdx].index] = angles_[(aIdx+1)%2].index;</div>
<div class="line"><a name="l01086"></a><span class="lineno"> 1086</span>&#160;      }</div>
<div class="line"><a name="l01087"></a><span class="lineno"> 1087</span>&#160;    }</div>
<div class="line"><a name="l01088"></a><span class="lineno"> 1088</span>&#160;  }</div>
<div class="line"><a name="l01089"></a><span class="lineno"> 1089</span>&#160;}</div>
<div class="line"><a name="l01090"></a><span class="lineno"> 1090</span>&#160; </div>
<div class="line"><a name="l01092"></a><span class="lineno"> 1092</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l01093"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_projection_triangulation.html#a2a0327acc080a2b87e3c1c7335ed4b8a"> 1093</a></span>&#160;<a class="code" href="classpcl_1_1_greedy_projection_triangulation.html#a2a0327acc080a2b87e3c1c7335ed4b8a">pcl::GreedyProjectionTriangulation&lt;PointInT&gt;::connectPoint</a> (</div>
<div class="line"><a name="l01094"></a><span class="lineno"> 1094</span>&#160;    std::vector&lt;pcl::Vertices&gt; &amp;polygons, </div>
<div class="line"><a name="l01095"></a><span class="lineno"> 1095</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">int</span> prev_index, <span class="keyword">const</span> <span class="keywordtype">int</span> next_index, <span class="keyword">const</span> <span class="keywordtype">int</span> next_next_index, </div>
<div class="line"><a name="l01096"></a><span class="lineno"> 1096</span>&#160;    <span class="keyword">const</span> Eigen::Vector2f &amp;uvn_current, </div>
<div class="line"><a name="l01097"></a><span class="lineno"> 1097</span>&#160;    <span class="keyword">const</span> Eigen::Vector2f &amp;uvn_prev, </div>
<div class="line"><a name="l01098"></a><span class="lineno"> 1098</span>&#160;    <span class="keyword">const</span> Eigen::Vector2f &amp;uvn_next)</div>
<div class="line"><a name="l01099"></a><span class="lineno"> 1099</span>&#160;{</div>
<div class="line"><a name="l01100"></a><span class="lineno"> 1100</span>&#160;  <span class="keywordflow">if</span> (is_current_free_)</div>
<div class="line"><a name="l01101"></a><span class="lineno"> 1101</span>&#160;  {</div>
<div class="line"><a name="l01102"></a><span class="lineno"> 1102</span>&#160;    ffn_[current_index_] = prev_index;</div>
<div class="line"><a name="l01103"></a><span class="lineno"> 1103</span>&#160;    sfn_[current_index_] = next_index;</div>
<div class="line"><a name="l01104"></a><span class="lineno"> 1104</span>&#160;  }</div>
<div class="line"><a name="l01105"></a><span class="lineno"> 1105</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l01106"></a><span class="lineno"> 1106</span>&#160;  {</div>
<div class="line"><a name="l01107"></a><span class="lineno"> 1107</span>&#160;    <span class="keywordflow">if</span> ((prev_is_ffn_ &amp;&amp; next_is_sfn_) || (prev_is_sfn_ &amp;&amp; next_is_ffn_))</div>
<div class="line"><a name="l01108"></a><span class="lineno"> 1108</span>&#160;      state_[current_index_] = COMPLETED;</div>
<div class="line"><a name="l01109"></a><span class="lineno"> 1109</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (prev_is_ffn_ &amp;&amp; !next_is_sfn_)</div>
<div class="line"><a name="l01110"></a><span class="lineno"> 1110</span>&#160;      ffn_[current_index_] = next_index;</div>
<div class="line"><a name="l01111"></a><span class="lineno"> 1111</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (next_is_ffn_ &amp;&amp; !prev_is_sfn_)</div>
<div class="line"><a name="l01112"></a><span class="lineno"> 1112</span>&#160;      ffn_[current_index_] = prev_index;</div>
<div class="line"><a name="l01113"></a><span class="lineno"> 1113</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (prev_is_sfn_ &amp;&amp; !next_is_ffn_)</div>
<div class="line"><a name="l01114"></a><span class="lineno"> 1114</span>&#160;      sfn_[current_index_] = next_index;</div>
<div class="line"><a name="l01115"></a><span class="lineno"> 1115</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (next_is_sfn_ &amp;&amp; !prev_is_ffn_)</div>
<div class="line"><a name="l01116"></a><span class="lineno"> 1116</span>&#160;      sfn_[current_index_] = prev_index;</div>
<div class="line"><a name="l01117"></a><span class="lineno"> 1117</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l01118"></a><span class="lineno"> 1118</span>&#160;    {</div>
<div class="line"><a name="l01119"></a><span class="lineno"> 1119</span>&#160;      <span class="keywordtype">bool</span> found_triangle = <span class="keyword">false</span>;</div>
<div class="line"><a name="l01120"></a><span class="lineno"> 1120</span>&#160;      <span class="keywordflow">if</span> ((prev_index != R_) &amp;&amp; ((ffn_[current_index_] == ffn_[prev_index]) || (ffn_[current_index_] == sfn_[prev_index])))</div>
<div class="line"><a name="l01121"></a><span class="lineno"> 1121</span>&#160;      {</div>
<div class="line"><a name="l01122"></a><span class="lineno"> 1122</span>&#160;        found_triangle = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01123"></a><span class="lineno"> 1123</span>&#160;        addTriangle (current_index_, ffn_[current_index_], prev_index, polygons);</div>
<div class="line"><a name="l01124"></a><span class="lineno"> 1124</span>&#160;        state_[prev_index] = COMPLETED;</div>
<div class="line"><a name="l01125"></a><span class="lineno"> 1125</span>&#160;        state_[ffn_[current_index_]] = COMPLETED;</div>
<div class="line"><a name="l01126"></a><span class="lineno"> 1126</span>&#160;        ffn_[current_index_] = next_index;</div>
<div class="line"><a name="l01127"></a><span class="lineno"> 1127</span>&#160;      }</div>
<div class="line"><a name="l01128"></a><span class="lineno"> 1128</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((prev_index != R_) &amp;&amp; ((sfn_[current_index_] == ffn_[prev_index]) || (sfn_[current_index_] == sfn_[prev_index])))</div>
<div class="line"><a name="l01129"></a><span class="lineno"> 1129</span>&#160;      {</div>
<div class="line"><a name="l01130"></a><span class="lineno"> 1130</span>&#160;        found_triangle = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01131"></a><span class="lineno"> 1131</span>&#160;        addTriangle (current_index_, sfn_[current_index_], prev_index, polygons);</div>
<div class="line"><a name="l01132"></a><span class="lineno"> 1132</span>&#160;        state_[prev_index] = COMPLETED;</div>
<div class="line"><a name="l01133"></a><span class="lineno"> 1133</span>&#160;        state_[sfn_[current_index_]] = COMPLETED;</div>
<div class="line"><a name="l01134"></a><span class="lineno"> 1134</span>&#160;        sfn_[current_index_] = next_index;</div>
<div class="line"><a name="l01135"></a><span class="lineno"> 1135</span>&#160;      }</div>
<div class="line"><a name="l01136"></a><span class="lineno"> 1136</span>&#160;      <span class="keywordflow">else</span> <span class="keywordflow">if</span> (state_[next_index] &gt; FREE)</div>
<div class="line"><a name="l01137"></a><span class="lineno"> 1137</span>&#160;      {</div>
<div class="line"><a name="l01138"></a><span class="lineno"> 1138</span>&#160;        <span class="keywordflow">if</span> ((ffn_[current_index_] == ffn_[next_index]) || (ffn_[current_index_] == sfn_[next_index]))</div>
<div class="line"><a name="l01139"></a><span class="lineno"> 1139</span>&#160;        {</div>
<div class="line"><a name="l01140"></a><span class="lineno"> 1140</span>&#160;          found_triangle = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01141"></a><span class="lineno"> 1141</span>&#160;          addTriangle (current_index_, ffn_[current_index_], next_index, polygons);</div>
<div class="line"><a name="l01142"></a><span class="lineno"> 1142</span>&#160; </div>
<div class="line"><a name="l01143"></a><span class="lineno"> 1143</span>&#160;          <span class="keywordflow">if</span> (ffn_[current_index_] == ffn_[next_index])</div>
<div class="line"><a name="l01144"></a><span class="lineno"> 1144</span>&#160;          {</div>
<div class="line"><a name="l01145"></a><span class="lineno"> 1145</span>&#160;            ffn_[next_index] = current_index_;</div>
<div class="line"><a name="l01146"></a><span class="lineno"> 1146</span>&#160;          }</div>
<div class="line"><a name="l01147"></a><span class="lineno"> 1147</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01148"></a><span class="lineno"> 1148</span>&#160;          {</div>
<div class="line"><a name="l01149"></a><span class="lineno"> 1149</span>&#160;            sfn_[next_index] = current_index_;</div>
<div class="line"><a name="l01150"></a><span class="lineno"> 1150</span>&#160;          }</div>
<div class="line"><a name="l01151"></a><span class="lineno"> 1151</span>&#160;          state_[ffn_[current_index_]] = COMPLETED;</div>
<div class="line"><a name="l01152"></a><span class="lineno"> 1152</span>&#160;          ffn_[current_index_] = prev_index;</div>
<div class="line"><a name="l01153"></a><span class="lineno"> 1153</span>&#160;        }</div>
<div class="line"><a name="l01154"></a><span class="lineno"> 1154</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> ((sfn_[current_index_] == ffn_[next_index]) || (sfn_[current_index_] == sfn_[next_index]))</div>
<div class="line"><a name="l01155"></a><span class="lineno"> 1155</span>&#160;        {</div>
<div class="line"><a name="l01156"></a><span class="lineno"> 1156</span>&#160;          found_triangle = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01157"></a><span class="lineno"> 1157</span>&#160;          addTriangle (current_index_, sfn_[current_index_], next_index, polygons);</div>
<div class="line"><a name="l01158"></a><span class="lineno"> 1158</span>&#160; </div>
<div class="line"><a name="l01159"></a><span class="lineno"> 1159</span>&#160;          <span class="keywordflow">if</span> (sfn_[current_index_] == ffn_[next_index])</div>
<div class="line"><a name="l01160"></a><span class="lineno"> 1160</span>&#160;          {</div>
<div class="line"><a name="l01161"></a><span class="lineno"> 1161</span>&#160;            ffn_[next_index] = current_index_;</div>
<div class="line"><a name="l01162"></a><span class="lineno"> 1162</span>&#160;          }</div>
<div class="line"><a name="l01163"></a><span class="lineno"> 1163</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01164"></a><span class="lineno"> 1164</span>&#160;          {</div>
<div class="line"><a name="l01165"></a><span class="lineno"> 1165</span>&#160;            sfn_[next_index] = current_index_;</div>
<div class="line"><a name="l01166"></a><span class="lineno"> 1166</span>&#160;          }</div>
<div class="line"><a name="l01167"></a><span class="lineno"> 1167</span>&#160;          state_[sfn_[current_index_]] = COMPLETED;</div>
<div class="line"><a name="l01168"></a><span class="lineno"> 1168</span>&#160;          sfn_[current_index_] = prev_index;</div>
<div class="line"><a name="l01169"></a><span class="lineno"> 1169</span>&#160;        }</div>
<div class="line"><a name="l01170"></a><span class="lineno"> 1170</span>&#160;      }</div>
<div class="line"><a name="l01171"></a><span class="lineno"> 1171</span>&#160; </div>
<div class="line"><a name="l01172"></a><span class="lineno"> 1172</span>&#160;      <span class="keywordflow">if</span> (found_triangle)</div>
<div class="line"><a name="l01173"></a><span class="lineno"> 1173</span>&#160;      {</div>
<div class="line"><a name="l01174"></a><span class="lineno"> 1174</span>&#160;      }</div>
<div class="line"><a name="l01175"></a><span class="lineno"> 1175</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l01176"></a><span class="lineno"> 1176</span>&#160;      {</div>
<div class="line"><a name="l01177"></a><span class="lineno"> 1177</span>&#160;        tmp_ = coords_[ffn_[current_index_]] - proj_qp_;</div>
<div class="line"><a name="l01178"></a><span class="lineno"> 1178</span>&#160;        uvn_ffn_[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l01179"></a><span class="lineno"> 1179</span>&#160;        uvn_ffn_[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l01180"></a><span class="lineno"> 1180</span>&#160;        tmp_ = coords_[sfn_[current_index_]] - proj_qp_;</div>
<div class="line"><a name="l01181"></a><span class="lineno"> 1181</span>&#160;        uvn_sfn_[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l01182"></a><span class="lineno"> 1182</span>&#160;        uvn_sfn_[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l01183"></a><span class="lineno"> 1183</span>&#160;        <span class="keywordtype">bool</span> prev_ffn = isVisible(uvn_prev, uvn_next, uvn_current, uvn_ffn_) &amp;&amp; isVisible(uvn_prev, uvn_sfn_, uvn_current, uvn_ffn_);</div>
<div class="line"><a name="l01184"></a><span class="lineno"> 1184</span>&#160;        <span class="keywordtype">bool</span> prev_sfn = isVisible(uvn_prev, uvn_next, uvn_current, uvn_sfn_) &amp;&amp; isVisible(uvn_prev, uvn_ffn_, uvn_current, uvn_sfn_);</div>
<div class="line"><a name="l01185"></a><span class="lineno"> 1185</span>&#160;        <span class="keywordtype">bool</span> next_ffn = isVisible(uvn_next, uvn_prev, uvn_current, uvn_ffn_) &amp;&amp; isVisible(uvn_next, uvn_sfn_, uvn_current, uvn_ffn_);</div>
<div class="line"><a name="l01186"></a><span class="lineno"> 1186</span>&#160;        <span class="keywordtype">bool</span> next_sfn = isVisible(uvn_next, uvn_prev, uvn_current, uvn_sfn_) &amp;&amp; isVisible(uvn_next, uvn_ffn_, uvn_current, uvn_sfn_);</div>
<div class="line"><a name="l01187"></a><span class="lineno"> 1187</span>&#160;        <span class="keywordtype">int</span> min_dist = -1;</div>
<div class="line"><a name="l01188"></a><span class="lineno"> 1188</span>&#160;        <span class="keywordflow">if</span> (prev_ffn &amp;&amp; next_sfn &amp;&amp; prev_sfn &amp;&amp; next_ffn)</div>
<div class="line"><a name="l01189"></a><span class="lineno"> 1189</span>&#160;        {</div>
<div class="line"><a name="l01190"></a><span class="lineno"> 1190</span>&#160;          <span class="comment">/* should be never the case */</span></div>
<div class="line"><a name="l01191"></a><span class="lineno"> 1191</span>&#160;          <span class="keywordtype">double</span> prev2f = (coords_[ffn_[current_index_]] - coords_[prev_index]).squaredNorm ();</div>
<div class="line"><a name="l01192"></a><span class="lineno"> 1192</span>&#160;          <span class="keywordtype">double</span> next2s = (coords_[sfn_[current_index_]] - coords_[next_index]).squaredNorm ();</div>
<div class="line"><a name="l01193"></a><span class="lineno"> 1193</span>&#160;          <span class="keywordtype">double</span> prev2s = (coords_[sfn_[current_index_]] - coords_[prev_index]).squaredNorm ();</div>
<div class="line"><a name="l01194"></a><span class="lineno"> 1194</span>&#160;          <span class="keywordtype">double</span> next2f = (coords_[ffn_[current_index_]] - coords_[next_index]).squaredNorm ();</div>
<div class="line"><a name="l01195"></a><span class="lineno"> 1195</span>&#160;          <span class="keywordflow">if</span> (prev2f &lt; prev2s)</div>
<div class="line"><a name="l01196"></a><span class="lineno"> 1196</span>&#160;          {</div>
<div class="line"><a name="l01197"></a><span class="lineno"> 1197</span>&#160;            <span class="keywordflow">if</span> (prev2f &lt; next2f)</div>
<div class="line"><a name="l01198"></a><span class="lineno"> 1198</span>&#160;            {</div>
<div class="line"><a name="l01199"></a><span class="lineno"> 1199</span>&#160;              <span class="keywordflow">if</span> (prev2f &lt; next2s)</div>
<div class="line"><a name="l01200"></a><span class="lineno"> 1200</span>&#160;                min_dist = 0;</div>
<div class="line"><a name="l01201"></a><span class="lineno"> 1201</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l01202"></a><span class="lineno"> 1202</span>&#160;                min_dist = 3;</div>
<div class="line"><a name="l01203"></a><span class="lineno"> 1203</span>&#160;            }</div>
<div class="line"><a name="l01204"></a><span class="lineno"> 1204</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l01205"></a><span class="lineno"> 1205</span>&#160;            {</div>
<div class="line"><a name="l01206"></a><span class="lineno"> 1206</span>&#160;              <span class="keywordflow">if</span> (next2f &lt; next2s)</div>
<div class="line"><a name="l01207"></a><span class="lineno"> 1207</span>&#160;                min_dist = 2;</div>
<div class="line"><a name="l01208"></a><span class="lineno"> 1208</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l01209"></a><span class="lineno"> 1209</span>&#160;                min_dist = 3;</div>
<div class="line"><a name="l01210"></a><span class="lineno"> 1210</span>&#160;            }</div>
<div class="line"><a name="l01211"></a><span class="lineno"> 1211</span>&#160;          }</div>
<div class="line"><a name="l01212"></a><span class="lineno"> 1212</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01213"></a><span class="lineno"> 1213</span>&#160;          {</div>
<div class="line"><a name="l01214"></a><span class="lineno"> 1214</span>&#160;            <span class="keywordflow">if</span> (prev2s &lt; next2f)</div>
<div class="line"><a name="l01215"></a><span class="lineno"> 1215</span>&#160;            {</div>
<div class="line"><a name="l01216"></a><span class="lineno"> 1216</span>&#160;              <span class="keywordflow">if</span> (prev2s &lt; next2s)</div>
<div class="line"><a name="l01217"></a><span class="lineno"> 1217</span>&#160;                min_dist = 1;</div>
<div class="line"><a name="l01218"></a><span class="lineno"> 1218</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l01219"></a><span class="lineno"> 1219</span>&#160;                min_dist = 3;</div>
<div class="line"><a name="l01220"></a><span class="lineno"> 1220</span>&#160;            }</div>
<div class="line"><a name="l01221"></a><span class="lineno"> 1221</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l01222"></a><span class="lineno"> 1222</span>&#160;            {</div>
<div class="line"><a name="l01223"></a><span class="lineno"> 1223</span>&#160;              <span class="keywordflow">if</span> (next2f &lt; next2s)</div>
<div class="line"><a name="l01224"></a><span class="lineno"> 1224</span>&#160;                min_dist = 2;</div>
<div class="line"><a name="l01225"></a><span class="lineno"> 1225</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l01226"></a><span class="lineno"> 1226</span>&#160;                min_dist = 3;</div>
<div class="line"><a name="l01227"></a><span class="lineno"> 1227</span>&#160;            }</div>
<div class="line"><a name="l01228"></a><span class="lineno"> 1228</span>&#160;          }</div>
<div class="line"><a name="l01229"></a><span class="lineno"> 1229</span>&#160;        }</div>
<div class="line"><a name="l01230"></a><span class="lineno"> 1230</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (prev_ffn &amp;&amp; next_sfn)</div>
<div class="line"><a name="l01231"></a><span class="lineno"> 1231</span>&#160;        {</div>
<div class="line"><a name="l01232"></a><span class="lineno"> 1232</span>&#160;          <span class="comment">/* a clear case */</span></div>
<div class="line"><a name="l01233"></a><span class="lineno"> 1233</span>&#160;          <span class="keywordtype">double</span> prev2f = (coords_[ffn_[current_index_]] - coords_[prev_index]).squaredNorm ();</div>
<div class="line"><a name="l01234"></a><span class="lineno"> 1234</span>&#160;          <span class="keywordtype">double</span> next2s = (coords_[sfn_[current_index_]] - coords_[next_index]).squaredNorm ();</div>
<div class="line"><a name="l01235"></a><span class="lineno"> 1235</span>&#160;          <span class="keywordflow">if</span> (prev2f &lt; next2s)</div>
<div class="line"><a name="l01236"></a><span class="lineno"> 1236</span>&#160;            min_dist = 0;</div>
<div class="line"><a name="l01237"></a><span class="lineno"> 1237</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01238"></a><span class="lineno"> 1238</span>&#160;            min_dist = 3;</div>
<div class="line"><a name="l01239"></a><span class="lineno"> 1239</span>&#160;        }</div>
<div class="line"><a name="l01240"></a><span class="lineno"> 1240</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (prev_sfn &amp;&amp; next_ffn)</div>
<div class="line"><a name="l01241"></a><span class="lineno"> 1241</span>&#160;        {</div>
<div class="line"><a name="l01242"></a><span class="lineno"> 1242</span>&#160;          <span class="comment">/* a clear case */</span></div>
<div class="line"><a name="l01243"></a><span class="lineno"> 1243</span>&#160;          <span class="keywordtype">double</span> prev2s = (coords_[sfn_[current_index_]] - coords_[prev_index]).squaredNorm ();</div>
<div class="line"><a name="l01244"></a><span class="lineno"> 1244</span>&#160;          <span class="keywordtype">double</span> next2f = (coords_[ffn_[current_index_]] - coords_[next_index]).squaredNorm ();</div>
<div class="line"><a name="l01245"></a><span class="lineno"> 1245</span>&#160;          <span class="keywordflow">if</span> (prev2s &lt; next2f)</div>
<div class="line"><a name="l01246"></a><span class="lineno"> 1246</span>&#160;            min_dist = 1;</div>
<div class="line"><a name="l01247"></a><span class="lineno"> 1247</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l01248"></a><span class="lineno"> 1248</span>&#160;            min_dist = 2;</div>
<div class="line"><a name="l01249"></a><span class="lineno"> 1249</span>&#160;        }</div>
<div class="line"><a name="l01250"></a><span class="lineno"> 1250</span>&#160;        <span class="comment">/* straightforward cases */</span></div>
<div class="line"><a name="l01251"></a><span class="lineno"> 1251</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (prev_ffn &amp;&amp; !next_sfn &amp;&amp; !prev_sfn &amp;&amp; !next_ffn)</div>
<div class="line"><a name="l01252"></a><span class="lineno"> 1252</span>&#160;          min_dist = 0;</div>
<div class="line"><a name="l01253"></a><span class="lineno"> 1253</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!prev_ffn &amp;&amp; !next_sfn &amp;&amp; prev_sfn &amp;&amp; !next_ffn)</div>
<div class="line"><a name="l01254"></a><span class="lineno"> 1254</span>&#160;          min_dist = 1;</div>
<div class="line"><a name="l01255"></a><span class="lineno"> 1255</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!prev_ffn &amp;&amp; !next_sfn &amp;&amp; !prev_sfn &amp;&amp; next_ffn)</div>
<div class="line"><a name="l01256"></a><span class="lineno"> 1256</span>&#160;          min_dist = 2;</div>
<div class="line"><a name="l01257"></a><span class="lineno"> 1257</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!prev_ffn &amp;&amp; next_sfn &amp;&amp; !prev_sfn &amp;&amp; !next_ffn)</div>
<div class="line"><a name="l01258"></a><span class="lineno"> 1258</span>&#160;          min_dist = 3;</div>
<div class="line"><a name="l01259"></a><span class="lineno"> 1259</span>&#160;        <span class="comment">/* messed up cases */</span></div>
<div class="line"><a name="l01260"></a><span class="lineno"> 1260</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (prev_ffn)</div>
<div class="line"><a name="l01261"></a><span class="lineno"> 1261</span>&#160;        {</div>
<div class="line"><a name="l01262"></a><span class="lineno"> 1262</span>&#160;          <span class="keywordtype">double</span> prev2f = (coords_[ffn_[current_index_]] - coords_[prev_index]).squaredNorm ();</div>
<div class="line"><a name="l01263"></a><span class="lineno"> 1263</span>&#160;          <span class="keywordflow">if</span> (prev_sfn)</div>
<div class="line"><a name="l01264"></a><span class="lineno"> 1264</span>&#160;          {</div>
<div class="line"><a name="l01265"></a><span class="lineno"> 1265</span>&#160;            <span class="keywordtype">double</span> prev2s = (coords_[sfn_[current_index_]] - coords_[prev_index]).squaredNorm ();</div>
<div class="line"><a name="l01266"></a><span class="lineno"> 1266</span>&#160;            <span class="keywordflow">if</span> (prev2s &lt; prev2f)</div>
<div class="line"><a name="l01267"></a><span class="lineno"> 1267</span>&#160;              min_dist = 1;</div>
<div class="line"><a name="l01268"></a><span class="lineno"> 1268</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l01269"></a><span class="lineno"> 1269</span>&#160;              min_dist = 0;</div>
<div class="line"><a name="l01270"></a><span class="lineno"> 1270</span>&#160;          }</div>
<div class="line"><a name="l01271"></a><span class="lineno"> 1271</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (next_ffn)</div>
<div class="line"><a name="l01272"></a><span class="lineno"> 1272</span>&#160;          {</div>
<div class="line"><a name="l01273"></a><span class="lineno"> 1273</span>&#160;            <span class="keywordtype">double</span> next2f = (coords_[ffn_[current_index_]] - coords_[next_index]).squaredNorm ();</div>
<div class="line"><a name="l01274"></a><span class="lineno"> 1274</span>&#160;            <span class="keywordflow">if</span> (next2f &lt; prev2f)</div>
<div class="line"><a name="l01275"></a><span class="lineno"> 1275</span>&#160;              min_dist = 2;</div>
<div class="line"><a name="l01276"></a><span class="lineno"> 1276</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l01277"></a><span class="lineno"> 1277</span>&#160;              min_dist = 0;</div>
<div class="line"><a name="l01278"></a><span class="lineno"> 1278</span>&#160;          }</div>
<div class="line"><a name="l01279"></a><span class="lineno"> 1279</span>&#160;        }</div>
<div class="line"><a name="l01280"></a><span class="lineno"> 1280</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (next_sfn)</div>
<div class="line"><a name="l01281"></a><span class="lineno"> 1281</span>&#160;        {</div>
<div class="line"><a name="l01282"></a><span class="lineno"> 1282</span>&#160;          <span class="keywordtype">double</span> next2s = (coords_[sfn_[current_index_]] - coords_[next_index]).squaredNorm ();</div>
<div class="line"><a name="l01283"></a><span class="lineno"> 1283</span>&#160;          <span class="keywordflow">if</span> (prev_sfn)</div>
<div class="line"><a name="l01284"></a><span class="lineno"> 1284</span>&#160;          {</div>
<div class="line"><a name="l01285"></a><span class="lineno"> 1285</span>&#160;            <span class="keywordtype">double</span> prev2s = (coords_[sfn_[current_index_]] - coords_[prev_index]).squaredNorm ();</div>
<div class="line"><a name="l01286"></a><span class="lineno"> 1286</span>&#160;            <span class="keywordflow">if</span> (prev2s &lt; next2s)</div>
<div class="line"><a name="l01287"></a><span class="lineno"> 1287</span>&#160;              min_dist = 1;</div>
<div class="line"><a name="l01288"></a><span class="lineno"> 1288</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l01289"></a><span class="lineno"> 1289</span>&#160;              min_dist = 3;</div>
<div class="line"><a name="l01290"></a><span class="lineno"> 1290</span>&#160;          }</div>
<div class="line"><a name="l01291"></a><span class="lineno"> 1291</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (next_ffn)</div>
<div class="line"><a name="l01292"></a><span class="lineno"> 1292</span>&#160;          {</div>
<div class="line"><a name="l01293"></a><span class="lineno"> 1293</span>&#160;            <span class="keywordtype">double</span> next2f = (coords_[ffn_[current_index_]] - coords_[next_index]).squaredNorm ();</div>
<div class="line"><a name="l01294"></a><span class="lineno"> 1294</span>&#160;            <span class="keywordflow">if</span> (next2f &lt; next2s)</div>
<div class="line"><a name="l01295"></a><span class="lineno"> 1295</span>&#160;              min_dist = 2;</div>
<div class="line"><a name="l01296"></a><span class="lineno"> 1296</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l01297"></a><span class="lineno"> 1297</span>&#160;              min_dist = 3;</div>
<div class="line"><a name="l01298"></a><span class="lineno"> 1298</span>&#160;          }</div>
<div class="line"><a name="l01299"></a><span class="lineno"> 1299</span>&#160;        }</div>
<div class="line"><a name="l01300"></a><span class="lineno"> 1300</span>&#160;        <span class="keywordflow">switch</span> (min_dist)</div>
<div class="line"><a name="l01301"></a><span class="lineno"> 1301</span>&#160;        {</div>
<div class="line"><a name="l01302"></a><span class="lineno"> 1302</span>&#160;          <span class="keywordflow">case</span> 0:<span class="comment">//prev2f:</span></div>
<div class="line"><a name="l01303"></a><span class="lineno"> 1303</span>&#160;          {</div>
<div class="line"><a name="l01304"></a><span class="lineno"> 1304</span>&#160;            addTriangle (current_index_, ffn_[current_index_], prev_index, polygons);</div>
<div class="line"><a name="l01305"></a><span class="lineno"> 1305</span>&#160; </div>
<div class="line"><a name="l01306"></a><span class="lineno"> 1306</span>&#160;            <span class="comment">/* updating prev_index */</span></div>
<div class="line"><a name="l01307"></a><span class="lineno"> 1307</span>&#160;            <span class="keywordflow">if</span> (ffn_[prev_index] == current_index_)</div>
<div class="line"><a name="l01308"></a><span class="lineno"> 1308</span>&#160;            {</div>
<div class="line"><a name="l01309"></a><span class="lineno"> 1309</span>&#160;              ffn_[prev_index] = ffn_[current_index_];</div>
<div class="line"><a name="l01310"></a><span class="lineno"> 1310</span>&#160;            }</div>
<div class="line"><a name="l01311"></a><span class="lineno"> 1311</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[prev_index] == current_index_)</div>
<div class="line"><a name="l01312"></a><span class="lineno"> 1312</span>&#160;            {</div>
<div class="line"><a name="l01313"></a><span class="lineno"> 1313</span>&#160;              sfn_[prev_index] = ffn_[current_index_];</div>
<div class="line"><a name="l01314"></a><span class="lineno"> 1314</span>&#160;            }</div>
<div class="line"><a name="l01315"></a><span class="lineno"> 1315</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[prev_index] == R_)</div>
<div class="line"><a name="l01316"></a><span class="lineno"> 1316</span>&#160;            {</div>
<div class="line"><a name="l01317"></a><span class="lineno"> 1317</span>&#160;              changed_1st_fn_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01318"></a><span class="lineno"> 1318</span>&#160;              ffn_[prev_index] = ffn_[current_index_];</div>
<div class="line"><a name="l01319"></a><span class="lineno"> 1319</span>&#160;            }</div>
<div class="line"><a name="l01320"></a><span class="lineno"> 1320</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[prev_index] == R_)</div>
<div class="line"><a name="l01321"></a><span class="lineno"> 1321</span>&#160;            {</div>
<div class="line"><a name="l01322"></a><span class="lineno"> 1322</span>&#160;              changed_1st_fn_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01323"></a><span class="lineno"> 1323</span>&#160;              sfn_[prev_index] = ffn_[current_index_];</div>
<div class="line"><a name="l01324"></a><span class="lineno"> 1324</span>&#160;            }</div>
<div class="line"><a name="l01325"></a><span class="lineno"> 1325</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (prev_index == R_)</div>
<div class="line"><a name="l01326"></a><span class="lineno"> 1326</span>&#160;            {</div>
<div class="line"><a name="l01327"></a><span class="lineno"> 1327</span>&#160;              new2boundary_ = ffn_[current_index_];</div>
<div class="line"><a name="l01328"></a><span class="lineno"> 1328</span>&#160;            }</div>
<div class="line"><a name="l01329"></a><span class="lineno"> 1329</span>&#160; </div>
<div class="line"><a name="l01330"></a><span class="lineno"> 1330</span>&#160;            <span class="comment">/* updating ffn */</span></div>
<div class="line"><a name="l01331"></a><span class="lineno"> 1331</span>&#160;            <span class="keywordflow">if</span> (ffn_[ffn_[current_index_]] == current_index_)</div>
<div class="line"><a name="l01332"></a><span class="lineno"> 1332</span>&#160;            {</div>
<div class="line"><a name="l01333"></a><span class="lineno"> 1333</span>&#160;              ffn_[ffn_[current_index_]] = prev_index;</div>
<div class="line"><a name="l01334"></a><span class="lineno"> 1334</span>&#160;            }</div>
<div class="line"><a name="l01335"></a><span class="lineno"> 1335</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[ffn_[current_index_]] == current_index_)</div>
<div class="line"><a name="l01336"></a><span class="lineno"> 1336</span>&#160;            {</div>
<div class="line"><a name="l01337"></a><span class="lineno"> 1337</span>&#160;              sfn_[ffn_[current_index_]] = prev_index;</div>
<div class="line"><a name="l01338"></a><span class="lineno"> 1338</span>&#160;            }</div>
<div class="line"><a name="l01339"></a><span class="lineno"> 1339</span>&#160; </div>
<div class="line"><a name="l01340"></a><span class="lineno"> 1340</span>&#160;            <span class="comment">/* updating current */</span></div>
<div class="line"><a name="l01341"></a><span class="lineno"> 1341</span>&#160;            ffn_[current_index_] = next_index;</div>
<div class="line"><a name="l01342"></a><span class="lineno"> 1342</span>&#160; </div>
<div class="line"><a name="l01343"></a><span class="lineno"> 1343</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01344"></a><span class="lineno"> 1344</span>&#160;          }</div>
<div class="line"><a name="l01345"></a><span class="lineno"> 1345</span>&#160;          <span class="keywordflow">case</span> 1:<span class="comment">//prev2s:</span></div>
<div class="line"><a name="l01346"></a><span class="lineno"> 1346</span>&#160;          {</div>
<div class="line"><a name="l01347"></a><span class="lineno"> 1347</span>&#160;            addTriangle (current_index_, sfn_[current_index_], prev_index, polygons);</div>
<div class="line"><a name="l01348"></a><span class="lineno"> 1348</span>&#160; </div>
<div class="line"><a name="l01349"></a><span class="lineno"> 1349</span>&#160;            <span class="comment">/* updating prev_index */</span></div>
<div class="line"><a name="l01350"></a><span class="lineno"> 1350</span>&#160;            <span class="keywordflow">if</span> (ffn_[prev_index] == current_index_)</div>
<div class="line"><a name="l01351"></a><span class="lineno"> 1351</span>&#160;            {</div>
<div class="line"><a name="l01352"></a><span class="lineno"> 1352</span>&#160;              ffn_[prev_index] = sfn_[current_index_];</div>
<div class="line"><a name="l01353"></a><span class="lineno"> 1353</span>&#160;            }</div>
<div class="line"><a name="l01354"></a><span class="lineno"> 1354</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[prev_index] == current_index_)</div>
<div class="line"><a name="l01355"></a><span class="lineno"> 1355</span>&#160;            {</div>
<div class="line"><a name="l01356"></a><span class="lineno"> 1356</span>&#160;              sfn_[prev_index] = sfn_[current_index_];</div>
<div class="line"><a name="l01357"></a><span class="lineno"> 1357</span>&#160;            }</div>
<div class="line"><a name="l01358"></a><span class="lineno"> 1358</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[prev_index] == R_)</div>
<div class="line"><a name="l01359"></a><span class="lineno"> 1359</span>&#160;            {</div>
<div class="line"><a name="l01360"></a><span class="lineno"> 1360</span>&#160;              changed_1st_fn_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01361"></a><span class="lineno"> 1361</span>&#160;              ffn_[prev_index] = sfn_[current_index_];</div>
<div class="line"><a name="l01362"></a><span class="lineno"> 1362</span>&#160;            }</div>
<div class="line"><a name="l01363"></a><span class="lineno"> 1363</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[prev_index] == R_)</div>
<div class="line"><a name="l01364"></a><span class="lineno"> 1364</span>&#160;            {</div>
<div class="line"><a name="l01365"></a><span class="lineno"> 1365</span>&#160;              changed_1st_fn_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01366"></a><span class="lineno"> 1366</span>&#160;              sfn_[prev_index] = sfn_[current_index_];</div>
<div class="line"><a name="l01367"></a><span class="lineno"> 1367</span>&#160;            }</div>
<div class="line"><a name="l01368"></a><span class="lineno"> 1368</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (prev_index == R_)</div>
<div class="line"><a name="l01369"></a><span class="lineno"> 1369</span>&#160;            {</div>
<div class="line"><a name="l01370"></a><span class="lineno"> 1370</span>&#160;              new2boundary_ = sfn_[current_index_];</div>
<div class="line"><a name="l01371"></a><span class="lineno"> 1371</span>&#160;            }</div>
<div class="line"><a name="l01372"></a><span class="lineno"> 1372</span>&#160; </div>
<div class="line"><a name="l01373"></a><span class="lineno"> 1373</span>&#160;            <span class="comment">/* updating sfn */</span></div>
<div class="line"><a name="l01374"></a><span class="lineno"> 1374</span>&#160;            <span class="keywordflow">if</span> (ffn_[sfn_[current_index_]] == current_index_)</div>
<div class="line"><a name="l01375"></a><span class="lineno"> 1375</span>&#160;            {</div>
<div class="line"><a name="l01376"></a><span class="lineno"> 1376</span>&#160;              ffn_[sfn_[current_index_]] = prev_index;</div>
<div class="line"><a name="l01377"></a><span class="lineno"> 1377</span>&#160;            }</div>
<div class="line"><a name="l01378"></a><span class="lineno"> 1378</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[sfn_[current_index_]] == current_index_)</div>
<div class="line"><a name="l01379"></a><span class="lineno"> 1379</span>&#160;            {</div>
<div class="line"><a name="l01380"></a><span class="lineno"> 1380</span>&#160;              sfn_[sfn_[current_index_]] = prev_index;</div>
<div class="line"><a name="l01381"></a><span class="lineno"> 1381</span>&#160;            }</div>
<div class="line"><a name="l01382"></a><span class="lineno"> 1382</span>&#160; </div>
<div class="line"><a name="l01383"></a><span class="lineno"> 1383</span>&#160;            <span class="comment">/* updating current */</span></div>
<div class="line"><a name="l01384"></a><span class="lineno"> 1384</span>&#160;            sfn_[current_index_] = next_index;</div>
<div class="line"><a name="l01385"></a><span class="lineno"> 1385</span>&#160; </div>
<div class="line"><a name="l01386"></a><span class="lineno"> 1386</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01387"></a><span class="lineno"> 1387</span>&#160;          }</div>
<div class="line"><a name="l01388"></a><span class="lineno"> 1388</span>&#160;          <span class="keywordflow">case</span> 2:<span class="comment">//next2f:</span></div>
<div class="line"><a name="l01389"></a><span class="lineno"> 1389</span>&#160;          {</div>
<div class="line"><a name="l01390"></a><span class="lineno"> 1390</span>&#160;            addTriangle (current_index_, ffn_[current_index_], next_index, polygons);</div>
<div class="line"><a name="l01391"></a><span class="lineno"> 1391</span>&#160;            <span class="keywordtype">int</span> neighbor_update = next_index;</div>
<div class="line"><a name="l01392"></a><span class="lineno"> 1392</span>&#160; </div>
<div class="line"><a name="l01393"></a><span class="lineno"> 1393</span>&#160;            <span class="comment">/* updating next_index */</span></div>
<div class="line"><a name="l01394"></a><span class="lineno"> 1394</span>&#160;            <span class="keywordflow">if</span> (state_[next_index] &lt;= FREE)</div>
<div class="line"><a name="l01395"></a><span class="lineno"> 1395</span>&#160;            {</div>
<div class="line"><a name="l01396"></a><span class="lineno"> 1396</span>&#160;              state_[next_index] = FRINGE;</div>
<div class="line"><a name="l01397"></a><span class="lineno"> 1397</span>&#160;              ffn_[next_index] = current_index_;</div>
<div class="line"><a name="l01398"></a><span class="lineno"> 1398</span>&#160;              sfn_[next_index] = ffn_[current_index_];</div>
<div class="line"><a name="l01399"></a><span class="lineno"> 1399</span>&#160;            }</div>
<div class="line"><a name="l01400"></a><span class="lineno"> 1400</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l01401"></a><span class="lineno"> 1401</span>&#160;            {</div>
<div class="line"><a name="l01402"></a><span class="lineno"> 1402</span>&#160;              <span class="keywordflow">if</span> (ffn_[next_index] == R_)</div>
<div class="line"><a name="l01403"></a><span class="lineno"> 1403</span>&#160;              {</div>
<div class="line"><a name="l01404"></a><span class="lineno"> 1404</span>&#160;                changed_2nd_fn_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01405"></a><span class="lineno"> 1405</span>&#160;                ffn_[next_index] = ffn_[current_index_];</div>
<div class="line"><a name="l01406"></a><span class="lineno"> 1406</span>&#160;              }</div>
<div class="line"><a name="l01407"></a><span class="lineno"> 1407</span>&#160;              <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[next_index] == R_)</div>
<div class="line"><a name="l01408"></a><span class="lineno"> 1408</span>&#160;              {</div>
<div class="line"><a name="l01409"></a><span class="lineno"> 1409</span>&#160;                changed_2nd_fn_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01410"></a><span class="lineno"> 1410</span>&#160;                sfn_[next_index] = ffn_[current_index_];</div>
<div class="line"><a name="l01411"></a><span class="lineno"> 1411</span>&#160;              }</div>
<div class="line"><a name="l01412"></a><span class="lineno"> 1412</span>&#160;              <span class="keywordflow">else</span> <span class="keywordflow">if</span> (next_index == R_)</div>
<div class="line"><a name="l01413"></a><span class="lineno"> 1413</span>&#160;              {</div>
<div class="line"><a name="l01414"></a><span class="lineno"> 1414</span>&#160;                new2boundary_ = ffn_[current_index_];</div>
<div class="line"><a name="l01415"></a><span class="lineno"> 1415</span>&#160;                <span class="keywordflow">if</span> (next_next_index == new2boundary_)</div>
<div class="line"><a name="l01416"></a><span class="lineno"> 1416</span>&#160;                  already_connected_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01417"></a><span class="lineno"> 1417</span>&#160;              }</div>
<div class="line"><a name="l01418"></a><span class="lineno"> 1418</span>&#160;              <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[next_index] == next_next_index)</div>
<div class="line"><a name="l01419"></a><span class="lineno"> 1419</span>&#160;              {</div>
<div class="line"><a name="l01420"></a><span class="lineno"> 1420</span>&#160;                already_connected_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01421"></a><span class="lineno"> 1421</span>&#160;                ffn_[next_index] = ffn_[current_index_];</div>
<div class="line"><a name="l01422"></a><span class="lineno"> 1422</span>&#160;              }</div>
<div class="line"><a name="l01423"></a><span class="lineno"> 1423</span>&#160;              <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[next_index] == next_next_index)</div>
<div class="line"><a name="l01424"></a><span class="lineno"> 1424</span>&#160;              {</div>
<div class="line"><a name="l01425"></a><span class="lineno"> 1425</span>&#160;                already_connected_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01426"></a><span class="lineno"> 1426</span>&#160;                sfn_[next_index] = ffn_[current_index_];</div>
<div class="line"><a name="l01427"></a><span class="lineno"> 1427</span>&#160;              }</div>
<div class="line"><a name="l01428"></a><span class="lineno"> 1428</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l01429"></a><span class="lineno"> 1429</span>&#160;              {</div>
<div class="line"><a name="l01430"></a><span class="lineno"> 1430</span>&#160;                tmp_ = coords_[ffn_[next_index]] - proj_qp_;</div>
<div class="line"><a name="l01431"></a><span class="lineno"> 1431</span>&#160;                uvn_next_ffn_[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l01432"></a><span class="lineno"> 1432</span>&#160;                uvn_next_ffn_[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l01433"></a><span class="lineno"> 1433</span>&#160;                tmp_ = coords_[sfn_[next_index]] - proj_qp_;</div>
<div class="line"><a name="l01434"></a><span class="lineno"> 1434</span>&#160;                uvn_next_sfn_[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l01435"></a><span class="lineno"> 1435</span>&#160;                uvn_next_sfn_[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l01436"></a><span class="lineno"> 1436</span>&#160; </div>
<div class="line"><a name="l01437"></a><span class="lineno"> 1437</span>&#160;                <span class="keywordtype">bool</span> ffn_next_ffn = isVisible(uvn_next_ffn_, uvn_next, uvn_current, uvn_ffn_) &amp;&amp; isVisible(uvn_next_ffn_, uvn_next, uvn_next_sfn_, uvn_ffn_);</div>
<div class="line"><a name="l01438"></a><span class="lineno"> 1438</span>&#160;                <span class="keywordtype">bool</span> sfn_next_ffn = isVisible(uvn_next_sfn_, uvn_next, uvn_current, uvn_ffn_) &amp;&amp; isVisible(uvn_next_sfn_, uvn_next, uvn_next_ffn_, uvn_ffn_);</div>
<div class="line"><a name="l01439"></a><span class="lineno"> 1439</span>&#160; </div>
<div class="line"><a name="l01440"></a><span class="lineno"> 1440</span>&#160;                <span class="keywordtype">int</span> connect2ffn = -1;</div>
<div class="line"><a name="l01441"></a><span class="lineno"> 1441</span>&#160;                <span class="keywordflow">if</span> (ffn_next_ffn &amp;&amp; sfn_next_ffn)</div>
<div class="line"><a name="l01442"></a><span class="lineno"> 1442</span>&#160;                {</div>
<div class="line"><a name="l01443"></a><span class="lineno"> 1443</span>&#160;                  <span class="keywordtype">double</span> fn2f = (coords_[ffn_[current_index_]] - coords_[ffn_[next_index]]).squaredNorm ();</div>
<div class="line"><a name="l01444"></a><span class="lineno"> 1444</span>&#160;                  <span class="keywordtype">double</span> sn2f = (coords_[ffn_[current_index_]] - coords_[sfn_[next_index]]).squaredNorm ();</div>
<div class="line"><a name="l01445"></a><span class="lineno"> 1445</span>&#160;                  <span class="keywordflow">if</span> (fn2f &lt; sn2f) connect2ffn = 0;</div>
<div class="line"><a name="l01446"></a><span class="lineno"> 1446</span>&#160;                  <span class="keywordflow">else</span> connect2ffn = 1;</div>
<div class="line"><a name="l01447"></a><span class="lineno"> 1447</span>&#160;                }</div>
<div class="line"><a name="l01448"></a><span class="lineno"> 1448</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_next_ffn) connect2ffn = 0;</div>
<div class="line"><a name="l01449"></a><span class="lineno"> 1449</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_next_ffn) connect2ffn = 1;</div>
<div class="line"><a name="l01450"></a><span class="lineno"> 1450</span>&#160; </div>
<div class="line"><a name="l01451"></a><span class="lineno"> 1451</span>&#160;                <span class="keywordflow">switch</span> (connect2ffn)</div>
<div class="line"><a name="l01452"></a><span class="lineno"> 1452</span>&#160;                {</div>
<div class="line"><a name="l01453"></a><span class="lineno"> 1453</span>&#160;                  <span class="keywordflow">case</span> 0: <span class="comment">// ffn[next]</span></div>
<div class="line"><a name="l01454"></a><span class="lineno"> 1454</span>&#160;                  {</div>
<div class="line"><a name="l01455"></a><span class="lineno"> 1455</span>&#160;                    addTriangle (next_index, ffn_[current_index_], ffn_[next_index], polygons);</div>
<div class="line"><a name="l01456"></a><span class="lineno"> 1456</span>&#160;                    neighbor_update = ffn_[next_index];</div>
<div class="line"><a name="l01457"></a><span class="lineno"> 1457</span>&#160; </div>
<div class="line"><a name="l01458"></a><span class="lineno"> 1458</span>&#160;                    <span class="comment">/* ffn[next_index] */</span></div>
<div class="line"><a name="l01459"></a><span class="lineno"> 1459</span>&#160;                    <span class="keywordflow">if</span> ((ffn_[ffn_[next_index]] == ffn_[current_index_]) || (sfn_[ffn_[next_index]] == ffn_[current_index_]))</div>
<div class="line"><a name="l01460"></a><span class="lineno"> 1460</span>&#160;                    {</div>
<div class="line"><a name="l01461"></a><span class="lineno"> 1461</span>&#160;                      state_[ffn_[next_index]] = COMPLETED;</div>
<div class="line"><a name="l01462"></a><span class="lineno"> 1462</span>&#160;                    }</div>
<div class="line"><a name="l01463"></a><span class="lineno"> 1463</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[ffn_[next_index]] == next_index)</div>
<div class="line"><a name="l01464"></a><span class="lineno"> 1464</span>&#160;                    {</div>
<div class="line"><a name="l01465"></a><span class="lineno"> 1465</span>&#160;                      ffn_[ffn_[next_index]] = ffn_[current_index_];</div>
<div class="line"><a name="l01466"></a><span class="lineno"> 1466</span>&#160;                    }</div>
<div class="line"><a name="l01467"></a><span class="lineno"> 1467</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[ffn_[next_index]] == next_index)</div>
<div class="line"><a name="l01468"></a><span class="lineno"> 1468</span>&#160;                    {</div>
<div class="line"><a name="l01469"></a><span class="lineno"> 1469</span>&#160;                      sfn_[ffn_[next_index]] = ffn_[current_index_];</div>
<div class="line"><a name="l01470"></a><span class="lineno"> 1470</span>&#160;                    }</div>
<div class="line"><a name="l01471"></a><span class="lineno"> 1471</span>&#160; </div>
<div class="line"><a name="l01472"></a><span class="lineno"> 1472</span>&#160;                    ffn_[next_index] = current_index_;</div>
<div class="line"><a name="l01473"></a><span class="lineno"> 1473</span>&#160; </div>
<div class="line"><a name="l01474"></a><span class="lineno"> 1474</span>&#160;                    <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01475"></a><span class="lineno"> 1475</span>&#160;                  }</div>
<div class="line"><a name="l01476"></a><span class="lineno"> 1476</span>&#160;                  <span class="keywordflow">case</span> 1: <span class="comment">// sfn[next]</span></div>
<div class="line"><a name="l01477"></a><span class="lineno"> 1477</span>&#160;                  {</div>
<div class="line"><a name="l01478"></a><span class="lineno"> 1478</span>&#160;                    addTriangle (next_index, ffn_[current_index_], sfn_[next_index], polygons);</div>
<div class="line"><a name="l01479"></a><span class="lineno"> 1479</span>&#160;                    neighbor_update = sfn_[next_index];</div>
<div class="line"><a name="l01480"></a><span class="lineno"> 1480</span>&#160; </div>
<div class="line"><a name="l01481"></a><span class="lineno"> 1481</span>&#160;                    <span class="comment">/* sfn[next_index] */</span></div>
<div class="line"><a name="l01482"></a><span class="lineno"> 1482</span>&#160;                    <span class="keywordflow">if</span> ((ffn_[sfn_[next_index]] == ffn_[current_index_]) || (sfn_[sfn_[next_index]] == ffn_[current_index_]))</div>
<div class="line"><a name="l01483"></a><span class="lineno"> 1483</span>&#160;                    {</div>
<div class="line"><a name="l01484"></a><span class="lineno"> 1484</span>&#160;                      state_[sfn_[next_index]] = COMPLETED;</div>
<div class="line"><a name="l01485"></a><span class="lineno"> 1485</span>&#160;                    }</div>
<div class="line"><a name="l01486"></a><span class="lineno"> 1486</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[sfn_[next_index]] == next_index)</div>
<div class="line"><a name="l01487"></a><span class="lineno"> 1487</span>&#160;                    {</div>
<div class="line"><a name="l01488"></a><span class="lineno"> 1488</span>&#160;                      ffn_[sfn_[next_index]] = ffn_[current_index_];</div>
<div class="line"><a name="l01489"></a><span class="lineno"> 1489</span>&#160;                    }</div>
<div class="line"><a name="l01490"></a><span class="lineno"> 1490</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[sfn_[next_index]] == next_index)</div>
<div class="line"><a name="l01491"></a><span class="lineno"> 1491</span>&#160;                    {</div>
<div class="line"><a name="l01492"></a><span class="lineno"> 1492</span>&#160;                      sfn_[sfn_[next_index]] = ffn_[current_index_];</div>
<div class="line"><a name="l01493"></a><span class="lineno"> 1493</span>&#160;                    }</div>
<div class="line"><a name="l01494"></a><span class="lineno"> 1494</span>&#160; </div>
<div class="line"><a name="l01495"></a><span class="lineno"> 1495</span>&#160;                    sfn_[next_index] = current_index_;</div>
<div class="line"><a name="l01496"></a><span class="lineno"> 1496</span>&#160; </div>
<div class="line"><a name="l01497"></a><span class="lineno"> 1497</span>&#160;                    <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01498"></a><span class="lineno"> 1498</span>&#160;                  }</div>
<div class="line"><a name="l01499"></a><span class="lineno"> 1499</span>&#160;                  <span class="keywordflow">default</span>:;</div>
<div class="line"><a name="l01500"></a><span class="lineno"> 1500</span>&#160;                }</div>
<div class="line"><a name="l01501"></a><span class="lineno"> 1501</span>&#160;              }</div>
<div class="line"><a name="l01502"></a><span class="lineno"> 1502</span>&#160;            }</div>
<div class="line"><a name="l01503"></a><span class="lineno"> 1503</span>&#160; </div>
<div class="line"><a name="l01504"></a><span class="lineno"> 1504</span>&#160;            <span class="comment">/* updating ffn */</span></div>
<div class="line"><a name="l01505"></a><span class="lineno"> 1505</span>&#160;            <span class="keywordflow">if</span> ((ffn_[ffn_[current_index_]] == neighbor_update) || (sfn_[ffn_[current_index_]] == neighbor_update))</div>
<div class="line"><a name="l01506"></a><span class="lineno"> 1506</span>&#160;            {</div>
<div class="line"><a name="l01507"></a><span class="lineno"> 1507</span>&#160;              state_[ffn_[current_index_]] = COMPLETED;</div>
<div class="line"><a name="l01508"></a><span class="lineno"> 1508</span>&#160;            }</div>
<div class="line"><a name="l01509"></a><span class="lineno"> 1509</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[ffn_[current_index_]] == current_index_)</div>
<div class="line"><a name="l01510"></a><span class="lineno"> 1510</span>&#160;            {</div>
<div class="line"><a name="l01511"></a><span class="lineno"> 1511</span>&#160;              ffn_[ffn_[current_index_]] = neighbor_update;</div>
<div class="line"><a name="l01512"></a><span class="lineno"> 1512</span>&#160;            }</div>
<div class="line"><a name="l01513"></a><span class="lineno"> 1513</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[ffn_[current_index_]] == current_index_)</div>
<div class="line"><a name="l01514"></a><span class="lineno"> 1514</span>&#160;            {</div>
<div class="line"><a name="l01515"></a><span class="lineno"> 1515</span>&#160;              sfn_[ffn_[current_index_]] = neighbor_update;</div>
<div class="line"><a name="l01516"></a><span class="lineno"> 1516</span>&#160;            }</div>
<div class="line"><a name="l01517"></a><span class="lineno"> 1517</span>&#160; </div>
<div class="line"><a name="l01518"></a><span class="lineno"> 1518</span>&#160;            <span class="comment">/* updating current */</span></div>
<div class="line"><a name="l01519"></a><span class="lineno"> 1519</span>&#160;            ffn_[current_index_] = prev_index;</div>
<div class="line"><a name="l01520"></a><span class="lineno"> 1520</span>&#160; </div>
<div class="line"><a name="l01521"></a><span class="lineno"> 1521</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01522"></a><span class="lineno"> 1522</span>&#160;          }</div>
<div class="line"><a name="l01523"></a><span class="lineno"> 1523</span>&#160;          <span class="keywordflow">case</span> 3:<span class="comment">//next2s:</span></div>
<div class="line"><a name="l01524"></a><span class="lineno"> 1524</span>&#160;          {</div>
<div class="line"><a name="l01525"></a><span class="lineno"> 1525</span>&#160;            addTriangle (current_index_, sfn_[current_index_], next_index, polygons);</div>
<div class="line"><a name="l01526"></a><span class="lineno"> 1526</span>&#160;            <span class="keywordtype">int</span> neighbor_update = next_index;</div>
<div class="line"><a name="l01527"></a><span class="lineno"> 1527</span>&#160; </div>
<div class="line"><a name="l01528"></a><span class="lineno"> 1528</span>&#160;            <span class="comment">/* updating next_index */</span></div>
<div class="line"><a name="l01529"></a><span class="lineno"> 1529</span>&#160;            <span class="keywordflow">if</span> (state_[next_index] &lt;= FREE)</div>
<div class="line"><a name="l01530"></a><span class="lineno"> 1530</span>&#160;            {</div>
<div class="line"><a name="l01531"></a><span class="lineno"> 1531</span>&#160;              state_[next_index] = FRINGE;</div>
<div class="line"><a name="l01532"></a><span class="lineno"> 1532</span>&#160;              ffn_[next_index] = current_index_;</div>
<div class="line"><a name="l01533"></a><span class="lineno"> 1533</span>&#160;              sfn_[next_index] = sfn_[current_index_];</div>
<div class="line"><a name="l01534"></a><span class="lineno"> 1534</span>&#160;            }</div>
<div class="line"><a name="l01535"></a><span class="lineno"> 1535</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l01536"></a><span class="lineno"> 1536</span>&#160;            {</div>
<div class="line"><a name="l01537"></a><span class="lineno"> 1537</span>&#160;              <span class="keywordflow">if</span> (ffn_[next_index] == R_)</div>
<div class="line"><a name="l01538"></a><span class="lineno"> 1538</span>&#160;              {</div>
<div class="line"><a name="l01539"></a><span class="lineno"> 1539</span>&#160;                changed_2nd_fn_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01540"></a><span class="lineno"> 1540</span>&#160;                ffn_[next_index] = sfn_[current_index_];</div>
<div class="line"><a name="l01541"></a><span class="lineno"> 1541</span>&#160;              }</div>
<div class="line"><a name="l01542"></a><span class="lineno"> 1542</span>&#160;              <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[next_index] == R_)</div>
<div class="line"><a name="l01543"></a><span class="lineno"> 1543</span>&#160;              {</div>
<div class="line"><a name="l01544"></a><span class="lineno"> 1544</span>&#160;                changed_2nd_fn_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01545"></a><span class="lineno"> 1545</span>&#160;                sfn_[next_index] = sfn_[current_index_];</div>
<div class="line"><a name="l01546"></a><span class="lineno"> 1546</span>&#160;              }</div>
<div class="line"><a name="l01547"></a><span class="lineno"> 1547</span>&#160;              <span class="keywordflow">else</span> <span class="keywordflow">if</span> (next_index == R_)</div>
<div class="line"><a name="l01548"></a><span class="lineno"> 1548</span>&#160;              {</div>
<div class="line"><a name="l01549"></a><span class="lineno"> 1549</span>&#160;                new2boundary_ = sfn_[current_index_];</div>
<div class="line"><a name="l01550"></a><span class="lineno"> 1550</span>&#160;                <span class="keywordflow">if</span> (next_next_index == new2boundary_)</div>
<div class="line"><a name="l01551"></a><span class="lineno"> 1551</span>&#160;                  already_connected_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01552"></a><span class="lineno"> 1552</span>&#160;              }</div>
<div class="line"><a name="l01553"></a><span class="lineno"> 1553</span>&#160;              <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[next_index] == next_next_index)</div>
<div class="line"><a name="l01554"></a><span class="lineno"> 1554</span>&#160;              {</div>
<div class="line"><a name="l01555"></a><span class="lineno"> 1555</span>&#160;                already_connected_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01556"></a><span class="lineno"> 1556</span>&#160;                ffn_[next_index] = sfn_[current_index_];</div>
<div class="line"><a name="l01557"></a><span class="lineno"> 1557</span>&#160;              }</div>
<div class="line"><a name="l01558"></a><span class="lineno"> 1558</span>&#160;              <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[next_index] == next_next_index)</div>
<div class="line"><a name="l01559"></a><span class="lineno"> 1559</span>&#160;              {</div>
<div class="line"><a name="l01560"></a><span class="lineno"> 1560</span>&#160;                already_connected_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l01561"></a><span class="lineno"> 1561</span>&#160;                sfn_[next_index] = sfn_[current_index_];</div>
<div class="line"><a name="l01562"></a><span class="lineno"> 1562</span>&#160;              }</div>
<div class="line"><a name="l01563"></a><span class="lineno"> 1563</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l01564"></a><span class="lineno"> 1564</span>&#160;              {</div>
<div class="line"><a name="l01565"></a><span class="lineno"> 1565</span>&#160;                tmp_ = coords_[ffn_[next_index]] - proj_qp_;</div>
<div class="line"><a name="l01566"></a><span class="lineno"> 1566</span>&#160;                uvn_next_ffn_[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l01567"></a><span class="lineno"> 1567</span>&#160;                uvn_next_ffn_[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l01568"></a><span class="lineno"> 1568</span>&#160;                tmp_ = coords_[sfn_[next_index]] - proj_qp_;</div>
<div class="line"><a name="l01569"></a><span class="lineno"> 1569</span>&#160;                uvn_next_sfn_[0] = tmp_.dot(u_);</div>
<div class="line"><a name="l01570"></a><span class="lineno"> 1570</span>&#160;                uvn_next_sfn_[1] = tmp_.dot(v_);</div>
<div class="line"><a name="l01571"></a><span class="lineno"> 1571</span>&#160; </div>
<div class="line"><a name="l01572"></a><span class="lineno"> 1572</span>&#160;                <span class="keywordtype">bool</span> ffn_next_sfn = isVisible(uvn_next_ffn_, uvn_next, uvn_current, uvn_sfn_) &amp;&amp; isVisible(uvn_next_ffn_, uvn_next, uvn_next_sfn_, uvn_sfn_);</div>
<div class="line"><a name="l01573"></a><span class="lineno"> 1573</span>&#160;                <span class="keywordtype">bool</span> sfn_next_sfn = isVisible(uvn_next_sfn_, uvn_next, uvn_current, uvn_sfn_) &amp;&amp; isVisible(uvn_next_sfn_, uvn_next, uvn_next_ffn_, uvn_sfn_);</div>
<div class="line"><a name="l01574"></a><span class="lineno"> 1574</span>&#160; </div>
<div class="line"><a name="l01575"></a><span class="lineno"> 1575</span>&#160;                <span class="keywordtype">int</span> connect2sfn = -1;</div>
<div class="line"><a name="l01576"></a><span class="lineno"> 1576</span>&#160;                <span class="keywordflow">if</span> (ffn_next_sfn &amp;&amp; sfn_next_sfn)</div>
<div class="line"><a name="l01577"></a><span class="lineno"> 1577</span>&#160;                {</div>
<div class="line"><a name="l01578"></a><span class="lineno"> 1578</span>&#160;                  <span class="keywordtype">double</span> fn2s = (coords_[sfn_[current_index_]] - coords_[ffn_[next_index]]).squaredNorm ();</div>
<div class="line"><a name="l01579"></a><span class="lineno"> 1579</span>&#160;                  <span class="keywordtype">double</span> sn2s = (coords_[sfn_[current_index_]] - coords_[sfn_[next_index]]).squaredNorm ();</div>
<div class="line"><a name="l01580"></a><span class="lineno"> 1580</span>&#160;                  <span class="keywordflow">if</span> (fn2s &lt; sn2s) connect2sfn = 0;</div>
<div class="line"><a name="l01581"></a><span class="lineno"> 1581</span>&#160;                  <span class="keywordflow">else</span> connect2sfn = 1;</div>
<div class="line"><a name="l01582"></a><span class="lineno"> 1582</span>&#160;                }</div>
<div class="line"><a name="l01583"></a><span class="lineno"> 1583</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_next_sfn) connect2sfn = 0;</div>
<div class="line"><a name="l01584"></a><span class="lineno"> 1584</span>&#160;                <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_next_sfn) connect2sfn = 1;</div>
<div class="line"><a name="l01585"></a><span class="lineno"> 1585</span>&#160; </div>
<div class="line"><a name="l01586"></a><span class="lineno"> 1586</span>&#160;                <span class="keywordflow">switch</span> (connect2sfn)</div>
<div class="line"><a name="l01587"></a><span class="lineno"> 1587</span>&#160;                {</div>
<div class="line"><a name="l01588"></a><span class="lineno"> 1588</span>&#160;                  <span class="keywordflow">case</span> 0: <span class="comment">// ffn[next]</span></div>
<div class="line"><a name="l01589"></a><span class="lineno"> 1589</span>&#160;                  {</div>
<div class="line"><a name="l01590"></a><span class="lineno"> 1590</span>&#160;                    addTriangle (next_index, sfn_[current_index_], ffn_[next_index], polygons);</div>
<div class="line"><a name="l01591"></a><span class="lineno"> 1591</span>&#160;                    neighbor_update = ffn_[next_index];</div>
<div class="line"><a name="l01592"></a><span class="lineno"> 1592</span>&#160; </div>
<div class="line"><a name="l01593"></a><span class="lineno"> 1593</span>&#160;                    <span class="comment">/* ffn[next_index] */</span></div>
<div class="line"><a name="l01594"></a><span class="lineno"> 1594</span>&#160;                    <span class="keywordflow">if</span> ((ffn_[ffn_[next_index]] == sfn_[current_index_]) || (sfn_[ffn_[next_index]] == sfn_[current_index_]))</div>
<div class="line"><a name="l01595"></a><span class="lineno"> 1595</span>&#160;                    {</div>
<div class="line"><a name="l01596"></a><span class="lineno"> 1596</span>&#160;                      state_[ffn_[next_index]] = COMPLETED;</div>
<div class="line"><a name="l01597"></a><span class="lineno"> 1597</span>&#160;                    }</div>
<div class="line"><a name="l01598"></a><span class="lineno"> 1598</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[ffn_[next_index]] == next_index)</div>
<div class="line"><a name="l01599"></a><span class="lineno"> 1599</span>&#160;                    {</div>
<div class="line"><a name="l01600"></a><span class="lineno"> 1600</span>&#160;                      ffn_[ffn_[next_index]] = sfn_[current_index_];</div>
<div class="line"><a name="l01601"></a><span class="lineno"> 1601</span>&#160;                    }</div>
<div class="line"><a name="l01602"></a><span class="lineno"> 1602</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[ffn_[next_index]] == next_index)</div>
<div class="line"><a name="l01603"></a><span class="lineno"> 1603</span>&#160;                    {</div>
<div class="line"><a name="l01604"></a><span class="lineno"> 1604</span>&#160;                      sfn_[ffn_[next_index]] = sfn_[current_index_];</div>
<div class="line"><a name="l01605"></a><span class="lineno"> 1605</span>&#160;                    }</div>
<div class="line"><a name="l01606"></a><span class="lineno"> 1606</span>&#160; </div>
<div class="line"><a name="l01607"></a><span class="lineno"> 1607</span>&#160;                    ffn_[next_index] = current_index_;</div>
<div class="line"><a name="l01608"></a><span class="lineno"> 1608</span>&#160; </div>
<div class="line"><a name="l01609"></a><span class="lineno"> 1609</span>&#160;                    <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01610"></a><span class="lineno"> 1610</span>&#160;                  }</div>
<div class="line"><a name="l01611"></a><span class="lineno"> 1611</span>&#160;                  <span class="keywordflow">case</span> 1: <span class="comment">// sfn[next]</span></div>
<div class="line"><a name="l01612"></a><span class="lineno"> 1612</span>&#160;                  {</div>
<div class="line"><a name="l01613"></a><span class="lineno"> 1613</span>&#160;                    addTriangle (next_index, sfn_[current_index_], sfn_[next_index], polygons);</div>
<div class="line"><a name="l01614"></a><span class="lineno"> 1614</span>&#160;                    neighbor_update = sfn_[next_index];</div>
<div class="line"><a name="l01615"></a><span class="lineno"> 1615</span>&#160; </div>
<div class="line"><a name="l01616"></a><span class="lineno"> 1616</span>&#160;                    <span class="comment">/* sfn[next_index] */</span></div>
<div class="line"><a name="l01617"></a><span class="lineno"> 1617</span>&#160;                    <span class="keywordflow">if</span> ((ffn_[sfn_[next_index]] == sfn_[current_index_]) || (sfn_[sfn_[next_index]] == sfn_[current_index_]))</div>
<div class="line"><a name="l01618"></a><span class="lineno"> 1618</span>&#160;                    {</div>
<div class="line"><a name="l01619"></a><span class="lineno"> 1619</span>&#160;                      state_[sfn_[next_index]] = COMPLETED;</div>
<div class="line"><a name="l01620"></a><span class="lineno"> 1620</span>&#160;                    }</div>
<div class="line"><a name="l01621"></a><span class="lineno"> 1621</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[sfn_[next_index]] == next_index)</div>
<div class="line"><a name="l01622"></a><span class="lineno"> 1622</span>&#160;                    {</div>
<div class="line"><a name="l01623"></a><span class="lineno"> 1623</span>&#160;                      ffn_[sfn_[next_index]] = sfn_[current_index_];</div>
<div class="line"><a name="l01624"></a><span class="lineno"> 1624</span>&#160;                    }</div>
<div class="line"><a name="l01625"></a><span class="lineno"> 1625</span>&#160;                    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[sfn_[next_index]] == next_index)</div>
<div class="line"><a name="l01626"></a><span class="lineno"> 1626</span>&#160;                    {</div>
<div class="line"><a name="l01627"></a><span class="lineno"> 1627</span>&#160;                      sfn_[sfn_[next_index]] = sfn_[current_index_];</div>
<div class="line"><a name="l01628"></a><span class="lineno"> 1628</span>&#160;                    }</div>
<div class="line"><a name="l01629"></a><span class="lineno"> 1629</span>&#160; </div>
<div class="line"><a name="l01630"></a><span class="lineno"> 1630</span>&#160;                    sfn_[next_index] = current_index_;</div>
<div class="line"><a name="l01631"></a><span class="lineno"> 1631</span>&#160; </div>
<div class="line"><a name="l01632"></a><span class="lineno"> 1632</span>&#160;                    <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01633"></a><span class="lineno"> 1633</span>&#160;                  }</div>
<div class="line"><a name="l01634"></a><span class="lineno"> 1634</span>&#160;                  <span class="keywordflow">default</span>:;</div>
<div class="line"><a name="l01635"></a><span class="lineno"> 1635</span>&#160;                }</div>
<div class="line"><a name="l01636"></a><span class="lineno"> 1636</span>&#160;              }</div>
<div class="line"><a name="l01637"></a><span class="lineno"> 1637</span>&#160;            }</div>
<div class="line"><a name="l01638"></a><span class="lineno"> 1638</span>&#160; </div>
<div class="line"><a name="l01639"></a><span class="lineno"> 1639</span>&#160;            <span class="comment">/* updating sfn */</span></div>
<div class="line"><a name="l01640"></a><span class="lineno"> 1640</span>&#160;            <span class="keywordflow">if</span> ((ffn_[sfn_[current_index_]] == neighbor_update) || (sfn_[sfn_[current_index_]] == neighbor_update))</div>
<div class="line"><a name="l01641"></a><span class="lineno"> 1641</span>&#160;            {</div>
<div class="line"><a name="l01642"></a><span class="lineno"> 1642</span>&#160;              state_[sfn_[current_index_]] = COMPLETED;</div>
<div class="line"><a name="l01643"></a><span class="lineno"> 1643</span>&#160;            }</div>
<div class="line"><a name="l01644"></a><span class="lineno"> 1644</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (ffn_[sfn_[current_index_]] == current_index_)</div>
<div class="line"><a name="l01645"></a><span class="lineno"> 1645</span>&#160;            {</div>
<div class="line"><a name="l01646"></a><span class="lineno"> 1646</span>&#160;              ffn_[sfn_[current_index_]] = neighbor_update;</div>
<div class="line"><a name="l01647"></a><span class="lineno"> 1647</span>&#160;            }</div>
<div class="line"><a name="l01648"></a><span class="lineno"> 1648</span>&#160;            <span class="keywordflow">else</span> <span class="keywordflow">if</span> (sfn_[sfn_[current_index_]] == current_index_)</div>
<div class="line"><a name="l01649"></a><span class="lineno"> 1649</span>&#160;            {</div>
<div class="line"><a name="l01650"></a><span class="lineno"> 1650</span>&#160;              sfn_[sfn_[current_index_]] = neighbor_update;</div>
<div class="line"><a name="l01651"></a><span class="lineno"> 1651</span>&#160;            }</div>
<div class="line"><a name="l01652"></a><span class="lineno"> 1652</span>&#160; </div>
<div class="line"><a name="l01653"></a><span class="lineno"> 1653</span>&#160;            sfn_[current_index_] = prev_index;</div>
<div class="line"><a name="l01654"></a><span class="lineno"> 1654</span>&#160; </div>
<div class="line"><a name="l01655"></a><span class="lineno"> 1655</span>&#160;            <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l01656"></a><span class="lineno"> 1656</span>&#160;          }</div>
<div class="line"><a name="l01657"></a><span class="lineno"> 1657</span>&#160;          <span class="keywordflow">default</span>:;</div>
<div class="line"><a name="l01658"></a><span class="lineno"> 1658</span>&#160;        }</div>
<div class="line"><a name="l01659"></a><span class="lineno"> 1659</span>&#160;      }</div>
<div class="line"><a name="l01660"></a><span class="lineno"> 1660</span>&#160;    }</div>
<div class="line"><a name="l01661"></a><span class="lineno"> 1661</span>&#160;  }</div>
<div class="line"><a name="l01662"></a><span class="lineno"> 1662</span>&#160;}</div>
<div class="line"><a name="l01663"></a><span class="lineno"> 1663</span>&#160; </div>
<div class="line"><a name="l01665"></a><span class="lineno"> 1665</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT&gt; std::vector&lt;std::vector&lt;size_t&gt; &gt;</div>
<div class="line"><a name="l01666"></a><span class="lineno"><a class="line" href="classpcl_1_1_greedy_projection_triangulation.html#a1a78e2bed009eb6d84e55126694b65d8"> 1666</a></span>&#160;<a class="code" href="classpcl_1_1_greedy_projection_triangulation.html#a1a78e2bed009eb6d84e55126694b65d8">pcl::GreedyProjectionTriangulation&lt;PointInT&gt;::getTriangleList</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a> &amp;input)</div>
<div class="line"><a name="l01667"></a><span class="lineno"> 1667</span>&#160;{</div>
<div class="line"><a name="l01668"></a><span class="lineno"> 1668</span>&#160;  std::vector&lt;std::vector&lt;size_t&gt; &gt; triangleList (input.cloud.width * input.cloud.height);</div>
<div class="line"><a name="l01669"></a><span class="lineno"> 1669</span>&#160; </div>
<div class="line"><a name="l01670"></a><span class="lineno"> 1670</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i &lt; input.polygons.size (); ++i)</div>
<div class="line"><a name="l01671"></a><span class="lineno"> 1671</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> j=0; j &lt; input.polygons[i].vertices.size (); ++j)</div>
<div class="line"><a name="l01672"></a><span class="lineno"> 1672</span>&#160;      triangleList[input.polygons[i].vertices[j]].push_back (i);</div>
<div class="line"><a name="l01673"></a><span class="lineno"> 1673</span>&#160;  <span class="keywordflow">return</span> (triangleList);</div>
<div class="line"><a name="l01674"></a><span class="lineno"> 1674</span>&#160;}</div>
<div class="line"><a name="l01675"></a><span class="lineno"> 1675</span>&#160; </div>
<div class="line"><a name="l01676"></a><span class="lineno"> 1676</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_GreedyProjectionTriangulation(T)                \</span></div>
<div class="line"><a name="l01677"></a><span class="lineno"> 1677</span>&#160;<span class="preprocessor">  template class PCL_EXPORTS pcl::GreedyProjectionTriangulation&lt;T&gt;;</span></div>
<div class="line"><a name="l01678"></a><span class="lineno"> 1678</span>&#160; </div>
<div class="line"><a name="l01679"></a><span class="lineno"> 1679</span>&#160;<span class="preprocessor">#endif    </span><span class="comment">// PCL_SURFACE_IMPL_GP3_H_</span></div>
<div class="line"><a name="l01680"></a><span class="lineno"> 1680</span>&#160; </div>
<div class="line"><a name="l01681"></a><span class="lineno"> 1681</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_greedy_projection_triangulation_html"><div class="ttname"><a href="classpcl_1_1_greedy_projection_triangulation.html">pcl::GreedyProjectionTriangulation</a></div><div class="ttdoc">GreedyProjectionTriangulation is an implementation of a greedy triangulation algorithm for 3D points ...</div><div class="ttdef"><b>Definition:</b> gp3.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_projection_triangulation_html_a1817076ff2985e5b5203b506bf25a979"><div class="ttname"><a href="classpcl_1_1_greedy_projection_triangulation.html#a1817076ff2985e5b5203b506bf25a979">pcl::GreedyProjectionTriangulation::performReconstruction</a></div><div class="ttdeci">void performReconstruction(pcl::PolygonMesh &amp;output)</div><div class="ttdoc">The actual surface reconstruction method.</div><div class="ttdef"><b>Definition:</b> gp3.hpp:46</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_projection_triangulation_html_a1a78e2bed009eb6d84e55126694b65d8"><div class="ttname"><a href="classpcl_1_1_greedy_projection_triangulation.html#a1a78e2bed009eb6d84e55126694b65d8">pcl::GreedyProjectionTriangulation::getTriangleList</a></div><div class="ttdeci">std::vector&lt; std::vector&lt; size_t &gt; &gt; getTriangleList(const pcl::PolygonMesh &amp;input)</div><div class="ttdoc">Get the list of containing triangles for each vertex in a PolygonMesh</div><div class="ttdef"><b>Definition:</b> gp3.hpp:1666</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_projection_triangulation_html_a2a0327acc080a2b87e3c1c7335ed4b8a"><div class="ttname"><a href="classpcl_1_1_greedy_projection_triangulation.html#a2a0327acc080a2b87e3c1c7335ed4b8a">pcl::GreedyProjectionTriangulation::connectPoint</a></div><div class="ttdeci">void connectPoint(std::vector&lt; pcl::Vertices &gt; &amp;polygons, const int prev_index, const int next_index, const int next_next_index, const Eigen::Vector2f &amp;uvn_current, const Eigen::Vector2f &amp;uvn_prev, const Eigen::Vector2f &amp;uvn_next)</div><div class="ttdoc">Forms a new triangle by connecting the current neighbor to the query point and the previous neighbor</div><div class="ttdef"><b>Definition:</b> gp3.hpp:1093</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_projection_triangulation_html_a79446bbf7aa1f11d452fa66e96f512de"><div class="ttname"><a href="classpcl_1_1_greedy_projection_triangulation.html#a79446bbf7aa1f11d452fa66e96f512de">pcl::GreedyProjectionTriangulation::reconstructPolygons</a></div><div class="ttdeci">bool reconstructPolygons(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">The actual surface reconstruction method.</div><div class="ttdef"><b>Definition:</b> gp3.hpp:74</div></div>
<div class="ttc" id="aclasspcl_1_1_greedy_projection_triangulation_html_a9c944c84cd512f7446e32477aa901ef2"><div class="ttname"><a href="classpcl_1_1_greedy_projection_triangulation.html#a9c944c84cd512f7446e32477aa901ef2">pcl::GreedyProjectionTriangulation::closeTriangle</a></div><div class="ttdeci">void closeTriangle(std::vector&lt; pcl::Vertices &gt; &amp;polygons)</div><div class="ttdoc">Whenever a query point is part of a boundary loop containing 3 points, that triangle is created (call...</div><div class="ttdef"><b>Definition:</b> gp3.hpp:1060</div></div>
<div class="ttc" id="astructpcl_1_1_greedy_projection_triangulation_1_1double_edge_html"><div class="ttname"><a href="structpcl_1_1_greedy_projection_triangulation_1_1double_edge.html">pcl::GreedyProjectionTriangulation::doubleEdge</a></div><div class="ttdoc">Struct for storing the edges starting from a fringe point</div><div class="ttdef"><b>Definition:</b> gp3.h:349</div></div>
<div class="ttc" id="astructpcl_1_1_polygon_mesh_html"><div class="ttname"><a href="structpcl_1_1_polygon_mesh.html">pcl::PolygonMesh</a></div><div class="ttdef"><b>Definition:</b> PolygonMesh.h:16</div></div>
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